Mobile Robot Cleaning System

ABSTRACT

A method for operating or interacting with a mobile robot includes determining, using at least one processor, a mapping between a first coordinate system associated with a mobile device and a second coordinate system associated with the mobile robot, in which the first coordinate system is different from the second coordinate system. The method includes providing at the mobile device a user interface to enable a user to interact with the mobile robot in which the interaction involves usage of the mapping between the first coordinate system and the second coordinate system.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Application 62/698,004, filedon Jul. 13, 2019, the entire contents of which are hereby incorporatedby reference.

TECHNICAL FIELD

The description relates to a mobile robot cleaning system.

BACKGROUND

In some examples, a conventional cleaning robot can clean an entirehouse by roaming around the house and sweeping up dust along the way.The robot may make several passes across the house and attempt to coveras much floor area as possible. If the user of the cleaning robot wantsthe robot to clean particular areas in the house, the user can pick upthe robot and place the robot near the first area that needs to becleaned. After the robot cleans the first area, the user can pick up therobot and place the robot near the second area that needs to be cleaned,and so forth. The robot establishes a map of the areas that it hastraveled. When the robot finishes cleaning the particular areas, therobot continues to clean the remaining areas of the house. After therobot determines that it has covered most of the floor areas of thehouse, the robot returns to a charging station to recharge and waits forthe next scheduled cleaning session.

SUMMARY

In a general aspect, a method includes determining, using at least oneprocessor, a mapping between a first coordinate system associated with amobile device and a second coordinate system associated with a mobilerobot, in which the first coordinate system is different from the secondcoordinate system; and providing at the mobile device a user interfaceto enable a user to interact with the mobile robot in which theinteraction involves usage of the mapping between the first coordinatesystem and the second coordinate system.

Implementations of the method can include one or more of the followingfeatures. The user interface can be configured to enable the user to usethe mobile device to instruct the mobile robot to perform a specifiedaction at a specified location.

The method can include enabling the user to use the mobile device toinstruct the mobile robot to perform a cleaning operation at thespecified location.

The method can include configuring the user interface to enable the userto specify a location on an image shown on a display module of themobile device; identifying, using at least one processor, coordinates ofthe location specified by the user; and sending an instruction from themobile device to the mobile robot to instruct the mobile robot toperform the cleaning operation at the location specified by the user, inwhich the instruction includes the coordinates of the location specifiedby the user.

The method can include determining first coordinates of the locationspecified by the user, in which the first coordinates are based on thefirst coordinate system; converting the first coordinates to secondcoordinates using the mapping between the first coordinate system andthe second coordinate system, in which the second coordinates are basedon the second coordinate system; and sending the instruction includingthe second coordinates to the mobile robot.

The method can include enabling the user to use the mobile device at afirst location in an environment to interact with the mobile robotlocated at a second location in the environment, in which the secondlocation is not within line of sight of the mobile device, and theinteraction involves usage of the mapping between the first coordinatesystem and the second coordinate system.

The method can include enabling the user to use the mobile devicelocated at a first room in a house to interact with the mobile robotlocated at a second room in the house, in which the interaction involvesusage of the mapping between the first coordinate system and the secondcoordinate system.

The method can include at the mobile device, receiving data about anenvironment from the mobile robot, the data including locationinformation; and at the mobile device, displaying an image of theenvironment on a display module, and overlaying graphic elements on theimage in which the graphic elements are derived based on the datareceived from the mobile robot.

The method can include overlaying a representation of an area having aspecified characteristic identified by the mobile robot on the image.

The area having the specified characteristic can include a floor areahaving the specified characteristics.

The area having the specified characteristic can represent at least oneof (i) an area in the environment that has been processed by the mobilerobot within a specified period of time, (ii) an area in the environmentthat has not been processed by the mobile robot within a specifiedperiod of time, (iii) an area in the environment that is scheduled to beprocessed and has not been processed by the mobile robot, (iv) a keepout zone, (v) an area that is traversable by the mobile robot, (vi) anarea that is not traversable by the mobile robot, (vii) a signalstrength map, or (viii) a foot traffic statistics map.

The method can include overlaying a representation of a obstacleidentified by the mobile robot on the image.

The method can include determining positions of the area and theobstacle relative to a viewpoint of a camera of the mobile device,determining which portion of the area is occluded by the obstacle, anddisplaying the image on the display module with the portion of the areahaving the specified characteristic being occluded by the obstacle.

The method can include executing an augmented reality tool to implementan augmented reality session on the mobile device, and configuring theuser interface to enable the user to interact with the mobile device inthe augmented reality session.

The method can include using the augmented reality tool to establish thefirst coordinate system based on images captured by a camera of themobile device.

Determining the mapping between the first coordinate system and thesecond coordinate system can include: comparing features derived fromimages captured by the camera of the mobile device with features derivedfrom images captured by a camera of the mobile robot; identifying amatch between a first set of features derived from the images capturedby the camera of the mobile device and a second set of features derivedfrom images captured by a camera of the mobile robot; identifying firstcoordinates associated with the first set of features, in which thefirst coordinates are based on the first coordinate system; identifyingsecond coordinates associated with the second set of features, in whichthe second coordinates are based on the second coordinate system; anddetermining the mapping between the first coordinate system and thesecond coordinate system based on a relationship between the firstcoordinates and the second coordinates.

The method can include applying an image transformation to the imagescaptured by the camera of the mobile device to generate modified imagesthat simulate images captured by the camera of the mobile robot from theviewpoint of the camera of the mobile device, in which the imagetransformation takes into account characteristics of the mobile devicecamera and characteristics of the mobile robot camera.

Comparing features derived from images captured by the camera of themobile device with features derived from images captured by the cameraof the mobile robot can include comparing features derived from themodified images with features derived from the images captured by thecamera of the mobile robot; and identifying a match between a first setof features derived from the images captured by the camera of the mobiledevice and a second set of features derived from images captured by acamera of the mobile robot can include identifying a match between afirst set of features derived from the modified images and a second setof features derived from images captured by the camera of the mobilerobot.

In another general aspect, a method includes displaying, on a displaymodule of a mobile device, an image of an environment captured by acamera of the mobile device, in which a representation of an area havinga specified characteristic and a representation of an obstacleidentified by a mobile robot are overlaid on the image, wherein in theimage, the area is shown partly occluded by the obstacle, and theportion of the area occluded by the obstacle is determined based onpositions of the area and the obstacle relative to a view point of thecamera of the mobile device.

Implementations of the method can include one or more of the followingfeatures. The representation of an area having a specifiedcharacteristic can include a representation of at least one of (i) anarea in the environment that has been processed by the mobile robot,(ii) an area in the environment that has not been processed by themobile robot within a specified period of time, (iii) an area in theenvironment that is scheduled to be processed and has not been processedby the mobile robot, (iv) a keep out zone, (v) an area that istraversable by the mobile robot, (vi) an area that is not traversable bythe mobile robot, (vii) a signal strength map, or (viii) a foot trafficstatistics map.

The method can include providing a user interface to enable a user tospecify the characteristic of the area for which the representation ofthe area is overlaid on the image.

The representation of the area in the environment that has beenprocessed by the mobile robot can include a representation of an areathat has been at least one of vacuumed, mopped, scrubbed, swept, ormowed by the mobile robot.

The signal strength map can include at least one of a Wi-Fi signalstrength map or a mobile phone signal strength map.

The area having the specified characteristic can include a floor areahaving the specified characteristic.

The representation of the obstacle can include one or more columns, inwhich each column corresponds to a location at which the mobile robotencountered an obstacle or a portion of an obstacle.

A map established by the mobile robot can include a plurality of cells,and each column can correspond to one of the cells at which the mobilerobot encountered an obstacle or a portion of an obstacle.

The map established by the mobile robot can include a two-dimensionalmap.

The method can include determining a mapping between a first coordinatesystem associated with the mobile robot and a second coordinate systemassociated with the mobile device, in which the mobile robot determinespositions of objects in the environment based on the first coordinatesystem, and the mobile device determines positions of objects in theenvironment based on the second coordinate system.

The mapping between the first coordinate system and the secondcoordinate system can be determined by at least one of the mobiledevice, the mobile robot, or a computer server that is located at adistance from the mobile device and the mobile robot.

The first coordinate system can be established based on images capturedby the mobile robot, and the second coordinate system can be establishedbased on images captured by the mobile device.

The first coordinate system can be established by at least one of themobile robot or a computer server that is located at a distance from themobile robot.

The second coordinate system can be determined by at least one of themobile device or a computer server that is located at a distance fromthe mobile device.

The method can include identifying first coordinates associated with thearea having the specified characteristic, in which the first coordinatesare based on the first coordinate system.

The method can include converting the first coordinates into secondcoordinates based on the mapping between the first coordinate system andthe second coordinate system, in which the second coordinates are basedon the second coordinate system.

The method can include determining the position of overlay of the areahaving the specified characteristic on the image based on the secondcoordinates.

Determining the mapping between the first coordinate system and thesecond coordinate system can include: identifying, using at least oneprocessor, a second set of features in at least one image captured bythe camera of the mobile device, in which the second set of features isassociated with a second set of coordinates that is based on the secondcoordinate system; comparing, using at least one processor, the secondset of features with stored features used by the mobile robot forrecognizing objects in the environment when the mobile robot navigatesin the environment, in which each of the stored features is associatedwith coordinates based on the first coordinate system; identifying,using at least one processor, a first set of features among the storedfeatures used by the mobile robot in which the first set of featuresmatch or approximately match the second set of features; anddetermining, using at least one processor, the mapping between the firstcoordinate system and the second coordinate system based on arelationship between the coordinates associated with the first set offeatures and the coordinates associated with the second set of features.

Identifying the second set of features in at least one image captured bythe camera of the mobile device can include identifyingillumination-invariant features in the at least one image captured bythe camera of the mobile device.

The stored features used by the mobile robot for recognizing objects inthe environment can include illumination-invariant features previouslyidentified from images captured by a camera of the mobile robot.

The stored features used by the mobile robot for recognizing objects inthe environment can include features previously identified from imagescaptured by a camera of the mobile robot, and identifying the second setof features in at least one image captured by the camera of the mobiledevice can include: generating at least one modified image based on theat least one image captured by the camera of the mobile device using atransformation determined according to characteristics of the camera ofthe mobile device and characteristics of the camera of the mobile robot,such that the at least one modified image simulates at least one imagecaptured by the camera of the mobile robot from the viewpoint of thecamera of the mobile device, and identifying the second set of featuresbased on the at least one modified image.

The characteristics of the camera can include at least one of camerasensor resolution, camera lens focal length, camera sensor size, cameralens distortion, camera lens field of view, or camera sensor gain.

The characteristics of the camera of the mobile device can berepresented by intrinsic camera parameters specified by an operatingsystem or an image application executing on the mobile device.

The characteristics of the camera of the mobile robot can be representedby intrinsic camera parameters specified by an operating system or animage application executing on the mobile robot.

The mobile robot can include at least one of a mobile cleaning robot ora mobile mowing robot.

The mobile device can include at least one of a mobile phone, a tabletcomputer, a notebook computer, a helmet that supports the displaymodule, or a goggle that supports the display module.

The information representing a signal strength map can includeinformation representing a Wi-Fi signal strength map or a mobile phonesignal strength map.

The method can include executing an augmented reality tool to implementan augmented reality session on the mobile device, and displaying theimage of the environment on the display module as part of the augmentedreality session.

The method can include invoking a function call of the augmented realitytool to overlay the representation of the area having the specifiedcharacteristic and the representation of the obstacle on the image ofthe environment.

The method can include determining a mapping between a first coordinatesystem associated with the mobile robot and a second coordinate systemassociated with the augmented reality session, in which the mobile robotdetermines positions of objects in the environment based on the firstcoordinate system, and the augmented reality tool determines positionsof objects in the environment based on the second coordinate system.

The first coordinate system can be derived from images captured by themobile robot, and the second coordinate system can be established by theaugmented reality tool based on images captured by the mobile device.

The method can include identifying first coordinates associated with thearea having the specified characteristic, in which the first coordinatesare based on the first coordinate system.

The method can include converting the first coordinates into secondcoordinates based on the mapping between the first coordinate system andthe second coordinate system, in which the second coordinates are basedon the second coordinate system.

The method can include determining a placement of the area having thespecified characteristic in the image based on the second coordinates.

The method can include identifying third coordinates associated with theobstacle, in which the third coordinates are based on the firstcoordinate system.

The method can include converting the third coordinates into fourthcoordinates based on the mapping between the first coordinate system andthe second coordinate system, in which the fourth coordinates are basedon the second coordinate system.

The method can include determining a placement of the obstacle in theimage based on the fourth coordinates.

The method can include determining that a portion of the area having thespecified characteristic is occluded by the obstacle based on acomparison of the second coordinates and the fourth coordinates relativeto a viewpoint of the camera of the mobile device.

Determining the mapping between the first coordinate system and thesecond coordinate system can include: invoking the augmented realitytool to identify a second set of features in at least one image capturedby the camera of the mobile device, in which the second set of featuresis associated with a second set of coordinates that is based on thesecond coordinate system; comparing, using at least one processor, thesecond set of features with stored features used by the mobile robot forrecognizing objects in the environment when the mobile robot navigatesin the environment, in which each of the stored features is associatedwith coordinates based on the first coordinate system; identifying,using at least one processor, a first set of features among the storedfeatures used by the mobile robot in which the first set of featuresmatch or approximately match the second set of features; anddetermining, using at least one processor, the mapping between the firstcoordinate system and the second coordinate system based on arelationship between the coordinates associated with the first set offeatures and the coordinates associated with the second set of features.

Identifying the second set of features in at least one image captured bythe camera of the mobile device can include invoking the augmentedreality tool to identify illumination-invariant features in the at leastone image captured by the camera of the mobile device.

The stored features used by the mobile robot for recognizing objects inthe environment can include illumination-invariant features previouslyidentified from images captured by the camera of the mobile robot.

The stored features used by the mobile robot for recognizing objects inthe environment can include features previously identified from imagescaptured by the camera of the mobile robot, and identifying the secondset of features in at least one image captured by the camera of themobile device can include: generating at least one modified image basedon the at least one image captured by the camera of the mobile deviceusing a transformation determined according to intrinsic parameters ofthe camera of the mobile device and intrinsic parameters of the cameraof the mobile robot, such that the at least one modified image simulatesat least one image captured by the camera of the mobile robot from theviewpoint of the camera of the mobile device, and invoking the augmentedreality tool to identify the second set of features based on the atleast one modified image.

The intrinsic parameters of the camera can include at least one ofcamera sensor resolution, camera lens focal length, camera sensor size,camera lens distortion, camera lens field of view, or camera sensorgain.

In another general aspect, a method includes combining first informationderived from at least one image of an environment captured by a firstcamera and second information derived from at least one image of theenvironment captured by a second camera, taking into account (i) firstcoordinates associated with the first information, (ii) secondcoordinates associated with the second information, and (iii) a mappingbetween a first coordinate system associated with the first camera and asecond coordinate system associated with the second camera, in which thefirst coordinates are based on the first coordinate system and thesecond coordinates are based on the second coordinate system.

Implementations of the method can include one or more of the followingfeatures. The method can include: using the first camera to capture afirst set of images of an environment; determining the first coordinatesystem based on the first set of images; using the second camera tocapture a second set of images of the environment; and determining thesecond coordinate system based on the second set of images.

The method can include: identifying, using at least one processor, afirst set of features in at least one image in the first set of images,in which the first set of features is associated with a first set ofcoordinates in the first coordinate system; identifying, using at leastone processor, a second set of features in at least one image in thesecond set of images, in which the second set of features match orsubstantially match the first set of features, and the second set offeatures is associated with a second set of coordinates in the secondcoordinate system; and determining, using at least one processor, themapping between the first coordinate system and the second coordinatesystem based on a relationship between the first set of coordinates ofthe first set of features and the second set of coordinates of thesecond set of features.

The method can include overlaying at least one feature provided by themobile robot on an image generated by the camera of the mobile device,in which the placement of the at least one feature in the image isdetermined based on the coordinates associated with the at least onefeature and the mapping between the first coordinate system and thesecond coordinate system; and displaying the image overlaid with the atleast one feature provided by the mobile robot.

Combining the first information and the second information can includegenerating an image that includes first image elements derived from thefirst information and second image elements derived from the secondinformation, and the first image elements and the second image elementsare positioned in the image based on coordinates associated with thefirst information and coordinates associated with the secondinformation.

In another general aspect, a method for operating or interacting with amobile cleaning robot is provided. The method includes using a camera ofa mobile computing device to capture images of an environment; at aprocessor of the mobile computing device, receiving information aboutobjects or regions in the environment from a mobile robot; at theprocessor, generating composite images in which the information aboutthe objects or regions in the environment received from the mobile robotis overlaid onto the images of the environment captured by the camera;and at a display of the mobile computing device, displaying thecomposite images.

Implementations of the method can include one or more of the followingfeatures. The method can include determining a mapping between a firstcoordinate system established based on a map used by the mobile robotand a second coordinate system established based on the images capturedby the camera.

Determining the mapping between the first coordinate system and thesecond coordinate system can include: identifying a first set offeatures in the environment based on the images of the environmentcaptured by the camera; comparing the first set of features with thestored features associated with the map used by the mobile robot;identifying a second set of features among the stored features in whichthe second set of features match or approximately match the first set offeatures; and determining the mapping between the first coordinatesystem and the second coordinate system based on a relationship betweenfirst coordinates associated with the first set of features and secondcoordinates associated with the second set of features.

Identifying a second set of features that match or approximately matchthe first set of features can include identifying a second set offeatures in which a similarity score between the first set of featuresand the second set of features is above a threshold value.

The second coordinate system can be established based on featuresderived from the images captured by the camera.

The method can include: identifying a feature associated with the mapused by the mobile robot; identifying a first set of coordinatesassociated with the feature, in which the first set of coordinates usethe first coordinate system as reference; mapping the first set ofcoordinates to a second set of coordinates based on the mapping betweenthe first coordinate system and the second coordinate system, in whichthe second set of coordinates is based on the second coordinate system;and overlaying the feature onto the images of the environment based onthe second set of coordinates to generate the composite images.

In another general aspect, a method for operating or interacting with amobile cleaning robot is provided. The method includes using a camera ofa mobile computing device to capture a first set of images of anenvironment; determining a first coordinate system associated with themobile computing device based on the first set of images; using a cameraof a mobile cleaning robot to capture a second set of images of theenvironment; determining a second coordinate system associated with themobile cleaning robot based on the second set of images; identifying,using at least one processor, a first set of features in at least oneimage in the first set of images, in which the first set of features isassociated with a first set of coordinates that is based on the firstcoordinate system; identifying, using at least one processor, a secondset of features in the second set of images that match or substantiallymatch the first set of features, in which the second set of features isassociated with a second set of coordinates that is based on the secondcoordinate system; determining, using at least one processor, a mappingbetween the first coordinate system and the second coordinate systembased on a relationship between the first set of coordinates of thefirst set of features and the second set of coordinates of the secondset of features; overlaying at least one feature provided by the mobilerobot on an image generated by the camera of the mobile device, in whichthe position of the at least one feature in the image is determinedbased on the coordinates associated with the at least one feature andthe mapping between the first coordinate system and the secondcoordinate system; and displaying the image overlaid with the at leastone feature provided by the mobile robot.

Implementations of the method can include one or more of the followingfeatures. Overlaying at least one feature provided by the mobile robotcan include overlaying a signal strength map on the image generated bythe camera of the mobile device. The overlaying the signal strength heatmap can include overlaying a Wi-Fi signal strength map or a mobile phonesignal strength map on the image generated by the camera of the mobiledevice. Overlaying at least one feature provided by the mobile robot caninclude overlaying information about one or more regions of theenvironment that have been processed by the mobile robot on the imagegenerated by the camera of the mobile device.

Overlaying information about one or more regions of the environment thathave been processed by the mobile robot can include overlayinginformation about one or more regions of the environment that have beenat least one of vacuumed, mopped, swept, scrubbed, or mowed by themobile robot on the image generated by the camera of the mobile device.

Overlaying at least one feature provided by the mobile robot can includeoverlaying a representation of obstacles identified by the mobile roboton the image generated by the camera of the mobile device.

Overlaying at least one feature provided by the mobile robot can includeoverlaying information about one or more regions of the environment thathave been processed by the mobile robot on the image generated by thecamera of the mobile device, in which the resulting image shows one ormore regions being partly occluded by the obstacles.

In another general aspect, a method includes displaying, on a display ofa mobile device, an image of an environment captured by a camera of themobile device, in which at least one feature is overlaid on the image,the at least one feature is derived from information provided by amobile robot, the at least one feature is associated with at least onephysical object in the environment, and the at least one feature isplaced at a position in the image that is determined based on theposition of the at least one physical object in the environment.

In another general aspect, a method includes displaying, on a display ofa mobile device, an image of an environment captured by a camera of themobile device, in which information provided by a mobile robot isoverlaid on the image, the information representing at least one of (i)an area in the environment that has been processed by the mobile robot,(ii) an area in the environment that has not been processed by themobile robot, (iii) an obstacle in the environment, (iv) a keep outzone, (v) a virtual wall, (vi) a virtual fence, (vii) an area that istraversable by the mobile robot, (viii) an area that is not traversableby the mobile robot, or (ix) a signal strength map.

Implementations of the method can include one or more of the followingfeatures. The information representing an area in the environment thathas been processed by the mobile robot can include informationrepresenting an area that has been at least one of vacuumed, mopped,swept, scrubbed, or mowed by the mobile robot.

The information representing a signal strength map can includeinformation representing a Wi-Fi signal strength map or a mobile phonesignal strength map.

Displaying the image of the environment with the information provided bythe mobile robot overlaid on the image can include displaying the imagewith a representation of an obstacle overlaid on the image, and therepresentation of the obstacle can include one or more columns having apredefined height.

In another general aspect, a method includes displaying, on a displaymodule of a mobile device, an image of an environment captured by acamera of the mobile device, in which a representation of first data anda representation of second data are overlaid on the image, the firstdata and the second data are provided by a mobile robot, the first dataincludes information about at least one of (i) an area in theenvironment that has been processed by the mobile robot, (ii) an area inthe environment that has not been processed by the mobile robot, (iii)an area in the environment that is scheduled to be processed and has notbeen processed by the mobile robot, (iv) an area in the environment thathas not been processed by the mobile robot within a time period, (v) akeep out zone, (vi) an area that is traversable by the mobile robot,(vii) an area that is not traversable by the mobile robot, (viii) asignal strength map, or (ix) a foot traffic statistics map; wherein thesecond data includes location information about at least one obstacle inthe environment that has been identified by the mobile robot, and in theimage shown on the display module, the representation of the first datais partly occluded by the representation of the obstacle identified bythe mobile robot.

In another general aspect, an apparatus includes a storage devicestoring processor-executable instructions; and at least one processorcommunicatively coupled to the storage device, in which upon executionof the processor-executable instructions by the at least one processor,the at least one processor is configured to: determine a mapping betweena first coordinate system associated with a mobile device and a secondcoordinate system associated with a mobile robot, in which the firstcoordinate system is different from the second coordinate system; andprovide at the mobile device a user interface to enable a user tointeract with the mobile robot in which the interaction involves usageof the mapping between the first coordinate system and the secondcoordinate system.

Implementations of the apparatus can include one or more of thefollowing features. The user interface can be configured to enable theuser to use the mobile device to instruct the mobile robot to perform aspecified action at a specified location.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to enablethe user to use the mobile device to instruct the mobile robot toperform a cleaning operation at the specified location.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to configurethe user interface to enable the user to specify a location on an imageshown on a display module of the mobile device, identify coordinates ofthe location specified by the user, and send an instruction from themobile device to the mobile robot to instruct the mobile robot toperform the cleaning operation at the location specified by the user, inwhich the instruction includes the coordinates of the location specifiedby the user.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to determinefirst coordinates of the location specified by the user, in which thefirst coordinates are based on the first coordinate system; convert thefirst coordinates to second coordinates using the mapping between thefirst coordinate system and the second coordinate system, in which thesecond coordinates are based on the second coordinate system; and sendthe instruction including the second coordinates to the mobile robot.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to enablethe user to use the mobile device at a first location in an environmentto interact with the mobile robot located at a second location in theenvironment, in which the second location is not within line of sight ofthe mobile device, and the interaction involves usage of the mappingbetween the first coordinate system and the second coordinate system.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to enablethe user to use the mobile device located at a first room in a house tointeract with the mobile robot located at a second room in the house, inwhich the interaction involves usage of the mapping between the firstcoordinate system and the second coordinate system.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to receivedata about an environment from the mobile robot, the data includinglocation information; and display an image of the environment on thedisplay module, and overlaying graphic elements on the image in whichthe graphic elements are derived based on the data received from themobile robot.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to overlay arepresentation of an area having a specified characteristic identifiedby the mobile robot on the image.

The area having the specified characteristic can include a floor areahaving the specified characteristics.

The area having the specified characteristic can represent at least oneof (i) an area in the environment that has been processed by the mobilerobot within a specified period of time, (ii) an area in the environmentthat has not been processed by the mobile robot within a specifiedperiod of time, (iii) an area in the environment that is scheduled to beprocessed and has not been processed by the mobile robot, (iv) a keepout zone, (v) an area that is traversable by the mobile robot, (vi) anarea that is not traversable by the mobile robot, (vii) a signalstrength map, or (viii) a foot traffic statistics map.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to overlay arepresentation of a obstacle identified by the mobile robot on theimage.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to:determine positions of the area and the obstacle relative to a viewpointof a camera of the mobile device; determine which portion of the area isoccluded by the obstacle; and display the image on the display modulewith the portion of the area having the specified characteristic beingoccluded by the obstacle.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor is configured to execute anaugmented reality tool to implement an augmented reality session on themobile device, and configure the user interface to enable the user tointeract with the mobile device in the augmented reality session.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to use theaugmented reality tool to establish the first coordinate system based onimages captured by a camera of the mobile device.

Determine the mapping between the first coordinate system and the secondcoordinate system can include: compare features derived from imagescaptured by the camera of the mobile device with features derived fromimages captured by a camera of the mobile robot; identify a matchbetween a first set of features derived from the images captured by thecamera of the mobile device and a second set of features derived fromimages captured by the camera of the mobile robot; identify firstcoordinates associated with the first set of features, in which thefirst coordinates are based on the first coordinate system; identifysecond coordinates associated with the second set of features, in whichthe second coordinates are based on the second coordinate system; anddetermine the mapping between the first coordinate system and the secondcoordinate system based on a relationship between the first coordinatesand the second coordinates.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to apply animage transformation to the images captured by the camera of the mobiledevice to generate modified images that simulate images captured by thecamera of the mobile robot from the viewpoint of the camera of themobile device, in which the image transformation takes into accountcharacteristics of the mobile device camera and characteristics of themobile robot camera.

Compare features derived from images captured by the camera of themobile device with features derived from images captured by the cameraof the mobile robot can include compare features derived from themodified images with features derived from the images captured by thecamera of the mobile robot; and identify a match between a first set offeatures derived from the images captured by the camera of the mobiledevice and a second set of features derived from images captured by acamera of the mobile robot comprises identify a match between a firstset of features derived from the modified images and a second set offeatures derived from images captured by the camera of the mobile robot.

In another general aspect, a mobile device includes a display module; acamera; a storage device storing processor-executable instructions; andat least one processor communicatively coupled to the storage device.Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor is configured to: display, onthe display module, an image of an environment captured by the camera,in which a representation of an area having a specified characteristicand a representation of an obstacle identified by a mobile robot areoverlaid on the image; wherein in the image, the area is shown partlyoccluded by the obstacle, and the portion of the area occluded by theobstacle is determined based on positions of the area and the obstaclerelative to a view point of the camera of the mobile device.

Implementations of the mobile device can include one or more of thefollowing features. The representation of an area having a specifiedcharacteristic can include a representation of at least one of (i) anarea in the environment that has been processed by the mobile robot,(ii) an area in the environment that has not been processed by themobile robot within a specified period of time, (iii) an area in theenvironment that is scheduled to be processed and has not been processedby the mobile robot, (iv) a keep out zone, (v) an area that istraversable by the mobile robot, (vi) an area that is not traversable bythe mobile robot, (vii) a signal strength map, or (viii) a foot trafficstatistics map.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to provide auser interface to enable a user to specify the characteristic of thearea for which the representation of the area is overlaid on the image.

The representation of the area in the environment that has beenprocessed by the mobile robot can include an area that has been at leastone of vacuumed, mopped, scrubbed, swept, or mowed by the mobile robot.

The signal strength map can include at least one of a Wi-Fi signalstrength map or a mobile phone signal strength map.

The area having the specified characteristic can include a floor areahaving the specified characteristic.

The representation of the obstacle can include one or more columns, inwhich each column corresponds to a location at which the mobile robotencountered an obstacle or a portion of an obstacle.

A map established by the mobile robot can include a plurality of cells,and each column corresponds to one of the cells at which the mobilerobot encountered an obstacle or a portion of an obstacle.

The map established by the mobile robot can include a two-dimensionalmap.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to determinea mapping between a first coordinate system associated with the mobilerobot and a second coordinate system associated with the mobile device,in which the mobile robot determines positions of objects in theenvironment based on the first coordinate system, and the mobile devicedetermines positions of objects in the environment based on the secondcoordinate system.

The mapping between the first coordinate system and the secondcoordinate system can be determined by at least one of the mobiledevice, the mobile robot, or a computer server that is located at adistance from the mobile device and the mobile robot.

The first coordinate system can be established based on images capturedby the mobile robot, and the second coordinate system can be establishedbased on images captured by the mobile device.

The first coordinate system can be established by at least one of themobile robot or a computer server that is located at a distance from themobile robot.

The second coordinate system can be determined by at least one of themobile device or a computer server that is located at a distance fromthe mobile device.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to: identifyfirst coordinates associated with the area having the specifiedcharacteristic, in which the first coordinates are based on the firstcoordinate system.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to: convertthe first coordinates into second coordinates based on the mappingbetween the first coordinate system and the second coordinate system, inwhich the second coordinates are based on the second coordinate system.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to determinethe position of overlay of the area having the specified characteristicon the image based on the second coordinates.

Determine the mapping between the first coordinate system and the secondcoordinate system can include: identify a second set of features in atleast one image captured by the camera of the mobile device, in whichthe second set of features is associated with a second set ofcoordinates that is based on the second coordinate system; compare thesecond set of features with stored features used by the mobile robot forrecognizing objects in the environment when the mobile robot navigatesin the environment, in which each of the stored features is associatedwith coordinates based on the first coordinate system; identify a firstset of features among the stored features used by the mobile robot inwhich the first set of features match or approximately match the secondset of features; and determine the mapping between the first coordinatesystem and the second coordinate system based on a relationship betweenthe coordinates associated with the first set of features and thecoordinates associated with the second set of features.

Identify the second set of features in at least one image captured bythe camera of the mobile device can include identifyillumination-invariant features in the at least one image captured bythe camera of the mobile device.

The stored features used by the mobile robot for recognizing objects inthe environment can include illumination-invariant features previouslyidentified from images captured by a camera of the mobile robot.

The stored features used by the mobile robot for recognizing objects inthe environment can include features previously identified from imagescaptured by a camera of the mobile robot, and identify the second set offeatures in at least one image captured by the camera of the mobiledevice can include: generate at least one modified image based on the atleast one image captured by the camera of the mobile device using atransformation determined according to characteristics of the camera ofthe mobile device and characteristics of the camera of the mobile robot,such that the at least one modified image simulates at least one imagecaptured by the camera of the mobile robot from the viewpoint of thecamera of the mobile device, and identify the second set of featuresbased on the at least one modified image.

The characteristics of the camera can include at least one of camerasensor resolution, camera lens focal length, camera sensor size, cameralens distortion, camera lens field of view, or camera sensor gain.

The characteristics of the camera of the mobile device can berepresented by intrinsic camera parameters specified by an operatingsystem or an image application executing on the mobile device.

The characteristics of the camera of the mobile robot can be representedby intrinsic camera parameters specified by an operating system or animage application executing on the mobile robot.

The mobile robot can include at least one of a mobile cleaning robot ora mobile mowing robot.

The mobile device can include at least one of a mobile phone, a tabletcomputer, a notebook computer, a helmet that supports the displaymodule, or a goggle that supports the display module.

The information representing a signal strength map can includeinformation representing a Wi-Fi signal strength map or a mobile phonesignal strength map.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to: executean augmented reality tool to implement an augmented reality session onthe mobile device, and display the image of the environment on thedisplay module as part of the augmented reality session.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to: invoke afunction call of the augmented reality tool to overlay therepresentation of the area having the specified characteristic and therepresentation of the obstacle on the image of the environment.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to:determine a mapping between a first coordinate system associated withthe mobile robot and a second coordinate system associated with theaugmented reality session, in which the mobile robot is configured todetermine positions of objects in the environment based on the firstcoordinate system, and the augmented reality tool is configured todetermine positions of objects in the environment based on the secondcoordinate system.

The first coordinate system can be derived from images captured by themobile robot, and the second coordinate system can be established by theaugmented reality tool based on images captured by the mobile device.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to identifyfirst coordinates associated with the area having the specifiedcharacteristic, in which the first coordinates are based on the firstcoordinate system.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to: convertthe first coordinates into second coordinates based on the mappingbetween the first coordinate system and the second coordinate system, inwhich the second coordinates are based on the second coordinate system.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to determinea placement of the area having the specified characteristic in the imagebased on the second coordinates.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to: identifythird coordinates associated with the obstacle, in which the thirdcoordinates are based on the first coordinate system.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to: convertthe third coordinates into fourth coordinates based on the mappingbetween the first coordinate system and the second coordinate system, inwhich the fourth coordinates are based on the second coordinate system.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to:determine a placement of the obstacle in the image based on the fourthcoordinates.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to determinethat a portion of the area having the specified characteristic isoccluded by the obstacle based on a comparison of the second coordinatesand the fourth coordinates relative to a viewpoint of the camera of themobile device.

Determine the mapping between the first coordinate system and the secondcoordinate system can include: invoke the augmented reality tool toidentify a second set of features in at least one image captured by thecamera of the mobile device, in which the second set of features isassociated with a second set of coordinates that is based on the secondcoordinate system; compare the second set of features with storedfeatures used by the mobile robot for recognizing objects in theenvironment when the mobile robot navigates in the environment, in whicheach of the stored features is associated with coordinates based on thefirst coordinate system; identify a first set of features among thestored features used by the mobile robot in which the first set offeatures match or approximately match the second set of features; anddetermine the mapping between the first coordinate system and the secondcoordinate system based on a relationship between the coordinatesassociated with the first set of features and the coordinates associatedwith the second set of features.

Identify the second set of features in at least one image captured bythe camera of the mobile device can include invoke the augmented realitytool to identify illumination-invariant features in the at least oneimage captured by the camera of the mobile device.

The stored features used by the mobile robot for recognizing objects inthe environment can include illumination-invariant features previouslyidentified from images captured by the camera of the mobile robot.

The stored features used by the mobile robot for recognizing objects inthe environment can include features previously identified from imagescaptured by the camera of the mobile robot, and identify the second setof features in at least one image captured by the camera of the mobiledevice can include: generate at least one modified image based on the atleast one image captured by the camera of the mobile device using atransformation determined according to intrinsic parameters of thecamera of the mobile device and intrinsic parameters of the camera ofthe mobile robot, such that the at least one modified image simulates atleast one image captured by the camera of the mobile robot from theviewpoint of the camera of the mobile device, and invoke the augmentedreality tool to identify the second set of features based on the atleast one modified image.

The intrinsic parameters of the camera can include at least one ofcamera sensor resolution, camera lens focal length, camera sensor size,camera lens distortion, camera lens field of view, or camera sensorgain.

In another general aspect, an apparatus includes: a storage devicestoring processor-executable instructions; and at least one processorcommunicatively coupled to the storage device. Upon execution of theprocessor-executable instructions by the at least one processor, the atleast one processor is configured to: combine first information derivedfrom at least one image of an environment captured by a first camera andsecond information derived from at least one image of the environmentcaptured by a second camera, taking into account (i) first coordinatesassociated with the first information, (ii) second coordinatesassociated with the second information, and (iii) a mapping between afirst coordinate system associated with the first camera and a secondcoordinate system associated with the second camera, in which the firstcoordinates are based on the first coordinate system and the secondcoordinates are based on the second coordinate system.

Implementations of the apparatus can include one or more of thefollowing features. Upon execution of the processor-executableinstructions by the at least one processor, the at least one processorcan be configured to: cause the first camera to capture a first set ofimages of an environment; determine the first coordinate system based onthe first set of images; cause the second camera to capture a second setof images of the environment; and determine the second coordinate systembased on the second set of images.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to: identifya first set of features in at least one image in the first set ofimages, in which the first set of features is associated with a firstset of coordinates in the first coordinate system; identify a second setof features in at least one image in the second set of images, in whichthe second set of features match or substantially match the first set offeatures, and the second set of features is associated with a second setof coordinates in the second coordinate system; and determine themapping between the first coordinate system and the second coordinatesystem based on a relationship between the first set of coordinates ofthe first set of features and the second set of coordinates of thesecond set of features.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to: overlayat least one feature provided by the mobile robot on an image generatedby the camera of the mobile device, in which the placement of the atleast one feature in the image is determined based on the coordinatesassociated with the at least one feature and the mapping between thefirst coordinate system and the second coordinate system; and displaythe image overlaid with the at least one feature provided by the mobilerobot.

Combine the first information and the second information can includegenerate an image that includes first image elements derived from thefirst information and second image elements derived from the secondinformation, and the first image elements and the second image elementsare positioned in the image based on coordinates associated with thefirst information and coordinates associated with the secondinformation.

In another general aspect, a mobile computing device for operating orinteracting with a mobile cleaning robot is provided. The mobilecomputing device includes: a camera; a display; a storage device storingprocessor-executable instructions; and at least one processorcommunicatively coupled to the storage device. Upon execution of theprocessor-executable instructions by the at least one processor, the atleast one processor is configured to: use the camera to capture imagesof an environment; receive information about objects or regions in theenvironment from a mobile robot; generate composite images in which theinformation about the objects or regions in the environment receivedfrom the mobile robot is overlaid onto the images of the environmentcaptured by the camera; and display the composite images on the display.

Implementations of the mobile computing device can include one or moreof the following features. Upon execution of the processor-executableinstructions by the at least one processor, the at least one processorcan be configured to determine a mapping between a first coordinatesystem established based on a map used by the mobile robot and a secondcoordinate system established based on the images captured by thecamera.

Determine the mapping between the first coordinate system and the secondcoordinate system can include: identify a first set of features in theenvironment based on the images of the environment captured by thecamera; comparing the first set of features with the stored featuresassociated with the map used by the mobile robot; identify a second setof features among the stored features in which the second set offeatures match or approximately match the first set of features; anddetermine the mapping between the first coordinate system and the secondcoordinate system based on a relationship between first coordinatesassociated with the first set of features and second coordinatesassociated with the second set of features.

Identify a second set of features that match or approximately match thefirst set of features can include identify a second set of features inwhich a similarity score between the first set of features and thesecond set of features is above a threshold value.

The second coordinate system can be established based on featuresderived from the images captured by the camera.

Upon execution of the processor-executable instructions by the at leastone processor, the at least one processor can be configured to: identifya feature associated with the map used by the mobile robot; identifyinga first set of coordinates associated with the feature, in which thefirst set of coordinates use the first coordinate system as reference;map the first set of coordinates to a second set of coordinates based onthe mapping between the first coordinate system and the secondcoordinate system, in which the second set of coordinates is based onthe second coordinate system; an overlay the feature onto the images ofthe environment based on the second set of coordinates to generate thecomposite images.

A mobile computing device for operating or interacting with a mobilecleaning robot is provided. The mobile computing device includes: acamera; a display module; a storage device storing processor-executableinstructions; and at least one processor communicatively coupled to thestorage device. Upon execution of the processor-executable instructionsby the at least one processor, the at least one processor is configuredto: cause the camera to capture a first set of images of an environment;determine a first coordinate system associated with the mobile computingdevice based on the first set of images; cause a camera of a mobilecleaning robot to capture a second set of images of the environment;determine a second coordinate system associated with the mobile cleaningrobot based on the second set of images; identify a first set offeatures in at least one image in the first set of images, in which thefirst set of features is associated with a first set of coordinates thatis based on the first coordinate system; identify a second set offeatures in the second set of images that match or substantially matchthe first set of features, in which the second set of features isassociated with a second set of coordinates that is based on the secondcoordinate system; determine a mapping between the first coordinatesystem and the second coordinate system based on a relationship betweenthe first set of coordinates of the first set of features and the secondset of coordinates of the second set of features; overlay at least onefeature provided by the mobile robot on an image generated by the cameraof the mobile device, in which the position of the at least one featurein the image is determined based on the coordinates associated with theat least one feature and the mapping between the first coordinate systemand the second coordinate system; and display the image overlaid withthe at least one feature provided by the mobile robot on the displaymodule.

Implementations of the mobile computing device can include one or moreof the following features. Overlay at least one feature provided by themobile robot can include overlay a signal strength map on the imagegenerated by the camera of the mobile device.

The overlay of the signal strength heat map can include overlay a Wi-Fisignal strength map or a mobile phone signal strength map on the imagegenerated by the camera of the mobile device.

Overlay of at least one feature provided by the mobile robot can includeoverlay information about one or more regions of the environment thathave been processed by the mobile robot on the image generated by thecamera of the mobile device.

Overlay of information about one or more regions of the environment thathave been processed by the mobile robot can include overlay informationabout one or more regions of the environment that have been at least oneof vacuumed, mopped, swept, scrubbed, or mowed by the mobile robot onthe image generated by the camera of the mobile device.

Overlay of at least one feature provided by the mobile robot can includeoverlay a representation of obstacles identified by the mobile robot onthe image generated by the camera of the mobile device.

Overlay of at least one feature provided by the mobile robot can includeoverlay information about one or more regions of the environment thathave been processed by the mobile robot on the image generated by thecamera of the mobile device, in which the resulting image shows one ormore regions being partly occluded by the obstacles.

In another general aspect, a system includes a mobile computing deviceincluding: at least one camera configured to capture images of anenvironment; a storage device storing processor-executable instructions;and at least one processor communicatively coupled to the storagedevice, in which upon execution of the processor-executable instructionsby the at least one processor, the at least one processor is configuredto: receive, from a mobile robot, robot map data including coordinatesof a plurality of features in an environment; identify, based at leastin part on data provided by the at least one camera, a first set offeatures in the environment; identify a second set of features among theplurality of features included in the robot map data in which the secondset of features match or approximately match the first set of features;and generate an image to be shown on a display module based on both dataprovided by the at least one camera and data included in the robot mapinformation.

The aspects described above can be embodied as systems, methods,computer programs stored on one or more computer storage devices, eachconfigured to perform the actions of the methods, or means forimplementing the methods. A system of one or more computing devices canbe configured to perform particular actions by virtue of havingsoftware, firmware, hardware, or a combination of them installed on thesystem that in operation causes or cause the system to perform theactions. One or more computer programs can be configured to performparticular actions by virtue of including instructions that, whenexecuted by data processing apparatus, cause the apparatus to performthe actions.

Other features and advantages of the description will become apparentfrom the following description, and from the claims.

Unless otherwise defined, the technical and scientific terms used hereinhave the same meaning as commonly understood by one of ordinary skill inthe art to which this invention belongs.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1A is a block diagram of an example system that enables spotcleaning by a mobile robot.

FIG. 1B is a diagram showing identification of the position of a spotfor cleaning.

FIGS. 2-4 are images of an environment in which information is overlaidon the images.

FIGS. 5A, 5B, 6A, and 6B are block diagrams of example systems thatenable spot cleaning by mobile robots.

FIGS. 7, 8A, and 8B are schematic views of example environments in whichthe systems for enabling spot cleaning can be used.

FIG. 9 is a schematic bottom view of an example mobile robot.

FIG. 10 is a schematic view of examples of sensors mounted on a mobilerobot.

FIG. 11 is a diagram showing a mobile computing device sharing acoordinate system with a mobile robot.

FIG. 12 is a diagram showing an example virtual path in a room.

FIG. 13 is a diagram showing examples of markers that can assist amobile robot in determining positions.

FIG. 14 is a diagram showing examples of objects in rooms that canassist a mobile robot in determine positions.

FIG. 15 is a diagram of an example Wi-Fi heat map overlaid on a floormap established by a mobile robot.

DETAILED DESCRIPTION

In this document, we describe a novel mobile robot cleaning system forenabling a user to conveniently interact with a mobile cleaning robotusing a mobile device, such as a mobile phone, a tablet computer, asmart watch, or smart eyeglasses. For example, the user can point themobile phone camera at a floor region in a room and through a userinterface on the mobile phone instruct the mobile cleaning robot toclean a specified floor area in the room. In some implementations, themobile phone executes an augmented reality tool to implement anaugmented reality session, in which the user interacts with the mobilecleaning robot using an user interface provided by the augmented realitytool. The system determines a mapping between a coordinate systemestablished in the augmented reality session and a coordinate systemused by the mobile cleaning robot. The augmented reality tool determinescoordinates of the floor area specified by the user, converts thecoordinates from the augmented reality session coordinate system to therobot map coordinate system, then sends the coordinates to the mobilecleaning robot so that the robot can navigate to the specified floorarea and perform a cleaning operation.

In some implementations, the mobile cleaning robot can send data to themobile device so that useful information can be overlaid on images orvideos shown on a display module of the mobile device. For example, thedisplay module can show an image or video of an environment (e.g., ahouse, a building, a yard, or other venue), and information about whichfloor areas have been cleaned by the mobile cleaning robot can beoverlaid on the image or video. In some implementations, obstaclesidentified by the mobile cleaning robot can also be overlaid on theimage or video in which some of the floor areas that have been cleanedby the mobile cleaning robot are occluded by the obstacles. The use ofocclusion provides visual cues to the user such that the floor areas inthe image or video are perceived as being on the floor level instead offloating above the floor level.

For example, the cleaning system establishes a coordinate system,determines the location of the spot or region in the coordinate system,and sends information about the position of the spot or region to themobile cleaning robot. This enables the mobile cleaning robot tonavigate to the spot or region and perform a cleaning task.

In some implementations, the cleaning system includes a mobile computingdevice that has one or more cameras that can capture scene images of anenvironment surrounding the mobile computing device, and one or moremotion sensors that can sense movements of the mobile computing device.The mobile computing device includes an augmented reality toolkit toprovide an augmented reality experience to the user. The augmentedreality toolkit can generate a virtual space and track a correspondencebetween the real-world space that the user inhabits and the virtualspace having visual virtual content using a visual-inertial odometrytechnique, in which information from the motion sensors is combined withcomputer vision analysis of the scene images captured by the one or morecameras. When the virtual content is displayed together with a livecamera image, the user experiences augmented reality with an illusionthat the virtual content is part of the real world.

The mobile computing device uses the augmented reality tool to establisha coordinate system in a virtual space and track a correspondencebetween the real-world space and the virtual space. The mobile computingdevice uses the augmented reality tool to determine the coordinates ofthe spot or region that needs to be cleaned in the virtual space.Because of the correspondence between the virtual space and the realworld, the mobile cleaning robot can determine the virtual-worldcoordinates of the spot or region that needs to be cleaned.

In some examples, the mobile computing device or a computer server(e.g., a cloud computer server) determines a mapping between thevirtual-space coordinate system and a coordinate system associated witha map used by the mobile cleaning robot. The augmented reality tooldetermines coordinates of the floor area specified by the user, convertsthe coordinates from the virtual-space coordinate system to the robotmap coordinate system, then sends the coordinates to the mobile cleaningrobot so that the robot can navigate to the specified floor area andperform a cleaning operation.

For example, the mobile computing device uses the augmented reality toolto determine a virtual plane that is parallel to and lies on the floorsurface. The virtual plane corresponds to the x-y plane in thecoordinate system of the virtual space. The mobile computing device usesthe augmented reality tool to determine that the spot that needs to becleaned is at coordinates (x1, y1, 0) in the virtual space, and convertsthe coordinates (x1, y1, 0) in the virtual space to coordinates (x2, y2,0) in the robot map coordinate system. The mobile computing device sendsthe coordinates (x2, y2, 0) to the mobile cleaning robot. The mobilecleaning robot calculates a route from its current location to thecoordinates (x2, y2, 00 and navigates to the spot while avoid obstaclesalong the way.

In some implementations, the mobile computing device provides a userinterface, such as a touch screen display, to enable the user to easilyidentify the spot or region that needs to be cleaned and identify themobile cleaning robot. For example, the user can point the camera of themobile computing device towards the spot or region, and an image of ascene that includes the spot or region is shown on the touch screendisplay. The user provides a touch input by touching the spot in theimage on the touch screen display to identify the spot that needs to becleaned. The augmented reality tool performs an image analysis todetermine a first point in the real world that corresponds to the spotin the image identified by the user, and determines the coordinates ofthe first point in the virtual space coordinate system. The user canidentify multiple spots that need to be cleaned, or multiple spots thatrepresent the corners of an area that needs to be cleaned, by moving themobile computing device to be near those spots and touching those spotsin the images on the touch screen display to identify the spots. As theuser moves the mobile computing device, the augmented reality systemcontinues to analyze the images captured by the camera and the motionsensing data provided by the motion sensors, and uses visual-inertialodometry techniques to determine the positions of the spots.

In some implementations, the system includes a feature detection modulethat is configured to detect features in images captured by a camera ofthe mobile cleaning robot. For example, the feature detection module candetect features using machine learning techniques. For example, thefeature detection module can detect illumination-invariant features thatare recognizable under various lighting conditions.

Referring to FIG. 1A, in some implementations, a mobile robot cleaningsystem 100 includes a mobile cleaning robot 102 and a mobile computingdevice 104. The mobile cleaning robot 102 includes, e.g., one or moredata processors 106, one or more cameras 108, and one or more motionsensors 110. The mobile cleaning robot 102 includes a storage device 112that stores a map 114 used for navigation, and program instructions orprogram code 116 that can be executed by the one or more data processors106 to cause the one or more data processors 106 to perform variousanalyses and computations.

The mobile computing device 104 can be, e.g., a mobile phone, a tabletcomputer, or a wearable computing device, such as a smart watch, a smarthelmet, smart eyeglasses, or smart goggles. The mobile computing device104 includes one or more data processors 118, one or more cameras 120,one or more motion sensors 122, and a touch screen display 138. Eachcamera 120 includes one or more image sensors that are sensitive tovisible light and optionally, infrared light. The mobile computingdevice 104 includes a storage device 124 storing program instructionsfor an augmented reality toolkit 126, program instructions for a spotcleaning program 132, and program instructions for a robot informationvisualization program 134. The storage device 124 can store a featuredetection or recognition module 136.

Each of the mobile computing device 104 and the mobile cleaning robot102 has a wireless communication module, enabling the mobile computingdevice 104 to communicate with the mobile cleaning robot 102. Forexample, the mobile computing device 104 can send coordinate informationand commands 128 to the mobile cleaning robot 102. The mobile cleaningrobot 102 can send data 130, including e.g. status reports 130, cleaningstatus maps, and/or statistical maps (e.g., Wi-Fi signal strength map,mobile phone signal strength map, foot traffic map) to the mobilecomputing device 104.

The spot cleaning program 132 manages the operations for spot cleaning,and manages the processing of information provided by various inputdevices and sensors, such as images provided by the camera 120, sensordata provided by the motion sensors 122, touch input data provided bythe touch screen display 138. The spot cleaning program 132 invokes theaugmented reality toolkit 126 and the feature detection module 136 toprocess the information provided by the various input devices andsensors.

For example, when the mobile cleaning robot 102 is used in a homeenvironment, the one or more camera 120 can capture scene images in thehome. The augmented reality toolkit 126 can provide an augmented realityexperience to the user by displaying virtual content together with alive camera image of objects in the home. The augmented reality toolkit126 can be developed by a developer of the mobile robot cleaning system100. In some examples, the developer of the mobile robot cleaning system100 can leverage functionalities of sophisticated augmented realitysoftware developed by other entities. For example, the augmented realitytoolkit 126 can be developed by the manufacturer of the mobile computingdevice 104. The augmented reality toolkit 126 can be bundled with themobile computing device 104, or downloaded from the web site of thedeveloper of the toolkit 126.

The augmented reality toolkit 126 can have various tools, such as:

-   -   A tool for using a camera of a mobile computing device to track        the device's orientation and position, and detect real-world        flat surfaces.    -   A tool for providing information about the position and        orientation of a real-world flat surface detected in a        world-tracking augmented-reality session.    -   A tool that provides information about a real-world surface        found by examining a point in the device camera view of an        augmented-reality session.    -   A tool that provides information about a real-world position and        orientation that can be used for placing objects in an        augmented-reality scene.    -   A tool that provides information about a video image and        position tracking information captured as part of an        augmented-reality session.    -   A tool that provides information about the camera position and        imaging characteristics for a captured video frame in an        augmented-reality session.    -   A tool that provides estimated scene lighting information        associated with a captured video frame in an augmented-reality        session.

The augmented reality toolkit 126 can have various applicationprogramming interfaces (API) that allows the spot cleaning program 132and the robot information visualization program 134 to access the toolsand functionalities of the augmented reality toolkit 126. Examples ofthe augmented reality toolkit 126 include Apple ARToolKit, or ARKit,available from Apple Inc., Cupertino, Calif.; DAQRI ARToolKit, availablefrom DAQRI, Los Angeles, Calif.; Vuforia SDK, available from PTC Inc.,Needham, Mass.; Wikitude SDK, available from Wikitude GmbH, Salzburg,Austria; and ARCore, available from Google LLC, Mountain View, Calif.

For example, a first API can be provided for accessing the augmentedreality toolkit 126 to analyze images captured by the camera 120 andidentify flat surfaces in the home. When the user points the camera 120toward the floor in the home, the spot cleaning program 132 can use theAPI to access the augmented reality toolkit 126 to identify a plane thatsubstantially lies on, or coincides with, the floor surface andestablish a Cartesian coordinate system using the identified plane asthe x-y plane. It is also possible to establish a Cartesian coordinatesystem in the virtual space in which the x-y plane does not coincidewith the floor surface.

In this document, when a plane is said to substantially lie on orcoincide with the floor surface, it is understood that the plane isdetermined to lie on or coincide with the floor surface within a marginof error. The camera 120 may have limited resolution, the lens of thecamera 120 may have distortion, the motion sensors 122 may have smallerrors within a specified tolerance, and the lighting condition of theenvironment where the images are taken may not be ideal, so there may besome error in the determination of the location of the plane in thevirtual space that coincides with the floor surface. The augmentedreality toolkit 126 is configured to generate a best estimate of thelocation of the floor surface based on the images provided by the camera120 and the sensor data provided by the motion sensors 122, andestablish a reference plane that coincides with the estimated locationof the floor surface.

Similarly, when a first point in the virtual space is said tosubstantially coincide with a second point in the real world, it isunderstood that the first point is determined to coincide with thesecond point within a margin of error. It is understood that thecoordinates of the spot to be cleaned are estimate values. The margin oferror for the estimated values may depend on several factors, such asthe resolution of the camera 120, the distortion of the camera opticalsystem, the accuracy of the motion sensors 122, and the lightingcondition of the environment in which the images are captured by thecamera 120.

A second API can be provided for accessing the augmented reality toolkit126 to determine a first point in the virtual space that corresponds toa second point in an image. For example, referring to FIG. 1B, the user212 points the camera 120 of the mobile computing device 104 at a pileof debris 250 at a location P1 on the floor 252 and provides a touchinput on the touch screen display 138 to identify a point in the imageshowing where the debris 250 is located. The spot cleaning program 132calls the augmented reality toolkit 126 to determine the coordinates ofa point in the virtual space that corresponds to the location P1 of thedebris 250. The user can identify multiple spots that need to becleaned. For each spot identified by the user, the spot cleaning program132 determines the coordinates of the point in the virtual space thatcorresponds to the spot that need to be cleaned.

Next, the cleaning system converts the coordinates of the points in thevirtual space coordinate system to coordinates in the robot mapcoordinate system, and sends the coordinates of the points to the mobilecleaning robot 102. The user provides an input command that indicatesthe user wishes to start the spot cleaning process. The spot cleaningprogram 132 sends a command 128 requesting the mobile cleaning robot 102to go clean the spots that need to be cleaned. The mobile cleaning robot102 upon receiving the command 128, determines a path from its currentlocation to the location where the debris is located. The mobilecleaning robot 102 travels to the location of the debris and cleans upthe debris.

In some implementations, the spot cleaning program 132 implements aninitialization process in which the camera 120 of the mobile computingdevice 104 captures images of scenes in the environment, and the featuredetection module identifies features in the images. In some examples,because the camera 120 of the mobile computing device 104 and the camera108 of the mobile cleaning robot can have different characteristics, animage transformation process is performed on the images captured by thecamera 102 to generate modified images that simulate the images capturedby the camera 108 from the viewpoint of the camera 102. For example, thecamera 108 can have a lower resolution compared to that of the camera120. The camera 108 can have more lens distortion compared to that ofthe camera 120. Thus, the image transformation process reduces the imageresolution and adds a lens distortion effect to the image captured bythe camera 120. Information about the characteristics of the camera 108can be represented by a first set of intrinsic camera parametersspecified by an operating system or an imaging application of the mobilecleaning robot 102. Information about the characteristics of the camera120 can be represented by a second set of intrinsic camera parametersspecified by an operating system or an imaging application of the mobilecomputing device 104. The image transformation process takes intoaccount of the first set of intrinsic camera parameters and the secondset of intrinsic camera parameters.

The image transformation process also takes into account of thedifferent viewpoints of the camera 120 and the camera 108. For example,the mobile cleaning robot 102 can have a low height to allow it tonavigate under furniture. The position of the camera 108 is a few inchesabove the floor level. On the other hand, the mobile computer device 104is typically held by the user a few feet above the floor. Thus, theimage transformation process transforms the image captured by the camera120 to simulate the image as seen from a few inches above floor level.The mobile computing device 104 then identifies features from themodified images.

The features can be, e.g., illumination invariant features. The featurescan represent, e.g., edges or corners of objects in the environment. Theobjects can be, e.g., beacons having specified characteristics, such asparticular shapes.

The cleaning system compares the features in the images captured by thecamera 120 with stored features derived from images previously capturedby the camera 108 of the mobile cleaning robot 102. The cleaning systemidentifies a match or an approximate match between the features derivedfrom the images captured by the camera 120 and a second set of featuresamong the stored features derived from the images previously captured bythe camera 108. The matching process can be implemented by the mobilecomputing device 104, in which the mobile computer device 104 obtainsthe stored features from the mobile cleaning robot 102 or from acomputer server. The matching process can also be implemented by acomputer server, such as a cloud computer server. The computer servercan have a storage device that stores a database that includes thestored features derived from images previously captured by the mobilecleaning robot 102. The mobile computing device 104 sends the featuresderived from the images captured by the camera 120 to the computerserver, and the computer server compares the features identified by themobile computing device 104 with the stored features to identify asecond set of features among the stored features, in which the secondset of features match or approximately match the features identified bythe mobile computing device 104. For example, a match is found when asimilarity score between the features identified by the mobile computingdevice 104 and stored features is above a predetermined threshold value.

For example, a feature x1 identified by the mobile computing device 104can correspond to a light switch or a portion of the light switch on awall in the image captured by the camera 120. The cleaning systemidentifies a feature y1 among the stored features y_i (i=1 . . . n) inwhich the feature y_1 also corresponds to the same light switch or thesame portion of the light switch. For example, a feature x_2 identifiedby the mobile computing device 104 can correspond to a painting or aportion of the painting on the wall in the image captured by the camera120. The cleaning system identifies a feature y_2 among the storedfeatures y_i (i=1 . . . n) in which the feature y_2 also corresponds tothe same painting or the same portion of the painting. This way, for afirst set of features x_1 to xp derived from the images captured by thecamera 120, the cleaning system identifies a second set of features y_1to yp that match or approximately match the features x_1 to xp.

The first set of features are associated with a first set of coordinatesin the first coordinate system (i.e., the coordinate system used by themobile computing device 104). The second set of features are associatedwith a second set of coordinates in the second coordinate system (i.e.,the coordinate system used by the mobile cleaning robot 102). Becausethe first set of features and the second set of features correspond tothe same or approximately the same physical objects, the first set ofcoordinates in the first coordinate system and the second set ofcoordinates in the second coordinate system can be used to determine amapping between the first coordinate system and the second coordinatesystem based on a relationship between the first set of coordinates andthe second set of coordinates.

After establishing the mapping between the first coordinate system andthe second coordinate system, the cleaning system can allow the user toconveniently interact with the mobile cleaning robot 102 using themobile computing device 104. For example, if the user wants the mobilecleaning robot 102 to move to a specified location, the user can use themobile computing device 104 to determine the coordinates of thespecified location in the mobile computing device coordinate system,convert the coordinates to the mobile cleaning robot coordinate system,and send the coordinates to the mobile cleaning robot.

Similarly, the mobile cleaning robot 102 may have data that includesinformation associated with coordinates in the robot coordinate system.The cleaning system can receive the data, convert the coordinates in therobot coordinate system to coordinates in the mobile computing devicecoordinate system, and process the information based on the convertedcoordinates. For example, the floor surface can be divided into cells,and the mobile cleaning robot 102 has information about which cells havebeen cleaned. The mobile cleaning robot 102 can send data about whichcells have been cleaned to the mobile computing device 104, in which thedata includes the coordinates of the cells. Upon receiving the data fromthe mobile cleaning robot 102, the mobile computing device 104 convertsthe coordinates from the mobile cleaning robot coordinate system to themobile computing device coordinate system. The mobile computing device104 then overlays a representation of the cells that have been cleanedon an image or video of the environment captured by the camera 120.

For example, FIG. 2 shows as an image 600 of a portion of a room.Overlaid on the image 600 are semi-transparent tiles 602 representingcells that have been cleaned by the mobile cleaning robot 102. Regions604 that do not have the overlaid semi-transparent tiles represent areasthat have not been cleaned by the mobile cleaning robot 102. The image600 enables the user to easily identify which areas have been cleanedand which areas have not been cleaned by the robot 102. For the areasthat have not been cleaned by the robot 102, the user can determinewhether those areas should be cleaned, whether there are obstacles thatprevent the robot 102 from performing cleaning operations, and whetherthe obstacles need to be removed to improve future cleaning operations.The semi-transparent tiles represent the floor areas that have beencleaned, so the tiles are placed at the floor level in the image 600.

For example, FIG. 3 shows an image 610 of a portion of a room. Overlaidon the image 610 are semi-transparent tiles 612 representing cells thathave been cleaned by the mobile cleaning robot 102. In the image 610,some of the semi-transparent tiles 612 are overlaid above portions ofobjects, such as a chair, a lamp, and a desk. The semi-transparent tiles612 represent floor areas that have been cleaned, but some of the tiles612 appear to float above portions of objects (e.g., chair, lamp, anddesk).

The mobile cleaning robot 102 can send to the mobile computing device104 data about which cells have obstacles, in which the data includesthe coordinates of the cells. Upon receiving the data from the robot102, the mobile computing device 104 converts the coordinates from themobile cleaning robot coordinate system to the mobile computing devicecoordinate system. The mobile computing device 104 then overlays arepresentation of the obstacles on an image or video of the environmentcaptured by the camera 120.

For example, FIG. 4 shows an image 620 of a portion of a room. Overlaidon the image 620 are semi-transparent tiles 622 representing cells thathave been cleaned by the mobile cleaning robot 102. Also overlaid on theimage 620 are columns 624 representing cells where the robot 102encountered obstacles. In this example, the robot 102 has atwo-dimension map that includes information about the locations of theobstacles on the 2D map, but does not have information about the heightor 3D shape of the obstacles. Thus, the obstacles are represented bycolumns 624 that have a predetermined height, e.g., 1 meter.

Based on the coordinates of the obstacles and the coordinates of thecells that have been cleaned, the cleaning system determines which cellsare occluded by the obstacles (represented by the columns 624) and doesnot show the corresponding semi-transparent tiles 622 in the image 620.By not showing the tiles 622 corresponding to the cells that areoccluded by the obstacles, the semi-transparent tiles 622 that are shownin the image 620 appear to be positioned properly at the floor level.

A similar technique can be used to show on an image or video of theenvironment which areas have been cleaned by the robot 102 within aspecified period of time, which areas have not been cleaned by the robot102 within a specified period of time, or which areas have beenscheduled to be cleaned and have not been cleaned by the mobile robot102. Similarly, keep out zones, areas that are traversable by the mobilerobot, areas that are not traversable by the mobile robot, signalstrength maps, or foot traffic statistics maps can also be overlaid onan image or video of the environment. In the examples above, the visualeffects of occlusion of some areas by obstacles can be properly renderedin the image or video of the environment captured by the camera 120.

After the mobile cleaning robot 102 completes the cleaning task, themobile cleaning robot 102 sends a status report to the mobile computingdevice 104 indicating that the cleaning task has been completed. Alongwith the status report, the mobile cleaning robot 102 can send dataindicating which areas have been cleaned to the mobile computing device104.

In the example above, the augmented reality toolkit 126 determines theCartesian coordinate system such that the x-y plane lies on the floorsurface. In this example, the mobile cleaning robot 102 is configured toclean the floor area, so it is convenient to have the x-y planecoincided with the floor surface. However, the coordinate system can bearbitrarily determined, and the x-y plane in the virtual space does notnecessarily have to lie on the floor surface. The mobile cleaning robot102 is configured to be able to navigate from its current location tothe location that needs spot cleaning based on the position dataprovided by the mobile computing device 104.

Referring to FIG. 5A, in some implementations, a mobile robot cleaningsystem 150 includes a remote computing system 152 that implementsaugmented reality functions so that a user can use a simple mobilecomputing device 165 that does not have augmented reality capabilitiesand still be able to instruct the mobile cleaning robot 102 to performspot cleaning at specification locations. In this example, the mobilecomputing device 165 communicates with the remote computing system 152through a communication link 176, and the remote computing system 152communicates with the mobile cleaning robot 102 through a communicationlink 178. The communication link 176 has sufficient bandwidth to supportstreaming of video or a sequence of images from the mobile computingdevice 165 to the remote computing system 152.

For example, the mobile computing device 165 includes one or more dataprocessors 118, one or more cameras 120, one or more motion sensors 122,and a storage device 124 storing a spot cleaning program 132. The remotecomputing system 152 can be, e.g., a computing device located in thehome of the user, or one or more cloud server computers that areaccessed through a network such as the Internet. The remote computingsystem 152 includes one or more data processors 154 and a storage device156 storing an augmented reality processing module 158, and a featuredetection module 162 configured to recognize features in the imagescaptured by the camera 120 of the mobile computing device 165.

After starting the spot cleaning program 132, the user instructs thespot cleaning program 132 to initialize the spot cleaning system. Theuser points the camera 120 towards the floor, and the mobile computingdevice 165 sends images 166 of the floor captured by the camera 120 tothe remote computing system 152. The augmented reality processing module158 processes the images 166, identifies the floor surface, determines aplane in a virtual space such that the plane lies on, or coincides with,the floor surface, and determines a Cartesian coordinate system for thevirtual space in which the x-y plane lies on, or coincides with, thefloor surface.

The user points the camera 120 towards the spot that needs to be cleanedand provides a touch input that identifies a point on the imagecorresponding to the spot. The mobile computing device 165 sends theimage that includes the spot to the remote computing system 152. Theaugmented reality processing module 158 determines the coordinates of afirst point in the virtual space, in which the first point correspondsto the location of the spot. The user can identify multiple spots thatneed to be cleaned. For each spot identified by the user, the augmentedreality processing module 158 determines the coordinates of the point inthe virtual space that correspond to the spot that need to be cleaned.

The user provides an input command that indicates the user wishes tostart the spot cleaning process. The mobile computing device 165 sendsthe command 168 to the remote computing system 152. The remote computingsystem 152 converts the coordinates of the spots that need to be cleanedfrom the virtual space coordinate system to the robot coordinate system.The remote computing system 152 sends to the mobile cleaning robot 102the coordinates 170 of the spots that need to be cleaned, and thecommand 168 requesting the mobile cleaning robot 102 to go clean thespots.

The mobile cleaning robot 102 upon receiving the command 168 from theremote computing device 152, determines a path from its current locationto the location that needs to be cleaned. The mobile cleaning robot 102then travels to the location that needs to be cleaned and removes thedebris. After the mobile cleaning robot 102 completes the cleaning task,the mobile cleaning robot 102 sends a status report 130 to the remotecomputing system 152 indicating that the cleaning task has beencompleted. Alternatively, the mobile cleaning robot 102 may send astatus report 130 indicating that a condition prevented the mobilecleaning robot 102 from completing the cleaning task and requestassistance from the user. The remote computing system 152 forwards thestatus reports 130 to the mobile computing device 165.

Referring to FIG. 5B, in some implementations, a mobile robot cleaningsystem 180 includes a remote computing system 152 that implementsaugmented reality functions similar to the example shown in FIG. 5A. Inthe example of FIG. 5B, the mobile computing device 165 communicatesdirectly with the mobile cleaning robot 102. The mobile computing device165 sends the images 166 to the remote computing device 152, and theremote computing device 152 returns the coordinates 170 of the spot thatneeds to be cleaned (in which the coordinates have been converted to therobot coordinate system) to the mobile computing device 165. The mobilecomputing device 165 sends the coordinates 170 to the mobile cleaningrobot 102, and a command 168 requesting the mobile cleaning robot 102 togo clean the spot that needs to be cleaned. The mobile cleaning robot102 sends a status report 130 to the mobile computing device 165.

Referring to FIG. 6A, in some implementations, a mobile robot cleaningsystem 190 includes multiple mobile cleaning robots, e.g., 192 a, 192 b,and 192 c, collectively referenced as 192. The mobile computing device104 coordinates with the mobile cleaning robots 192 to perform spotcleaning at multiple locations. For example, the mobile computing device104 captures images of multiple spots that need to be cleaned, anddetermines the coordinates of those spots in the virtual space, whichare subsequently converted to coordinates in the robot coordinatesystem.

The spot cleaning program 132 determines which mobile cleaning robot orrobots 192 to use to perform the spot cleaning tasks. For example, thespot cleaning program 132 can request the first mobile cleaning robot192 a to go clean the spots. The first mobile cleaning robot 192 a,after cleaning the first spot, may report that its debris bin is full.The spot cleaning program 132 can request the second mobile cleaningrobot 192 b to go clean the remaining spots.

For example, the mobile cleaning robots 192 may be in various locationsin the home, and the spot cleaning program 132 can identify the mobilecleaning robot 192 that is closest to the spots and request that mobilecleaning robot to go clean the spots. The spot cleaning program 132 maydetermine that the first mobile cleaning robot 192 a is closest to thefirst spot, and the second mobile cleaning robot 192 b is closest to thesecond spot. In this example, the spot cleaning program 132 requests thefirst mobile cleaning robot 192 a to go clean the first spot, andrequests the second mobile cleaning robot 192 b to go clean the secondspot.

Referring to FIG. 6B, in some implementations, a mobile robot cleaningsystem 200 can include multiple mobile cleaning robots, e.g., 192 a, 192b, and 192 c, collectively referenced as 192. The system 200 includes amobile computing device 165 that captures images of the dirt spots andthe mobile cleaning robots 192, and sends the images to a remotecomputing system 152 that implements augmented reality functions similarto the example in FIG. 5A. In the example of FIG. 6B, the remotecomputing system 152 coordinates with the mobile cleaning robots 192 toperform spot cleaning at multiple locations in a manner similar to theway that the mobile computing device 104 of FIG. 6A coordinates with themobile cleaning robots 192.

FIG. 7 shows a schematic view of an example of an environment in whichthe systems 100 (FIGS. 1) and 190 (FIG. 6A) can be used. The mobilecleaning robot 102 can operate within one or more enclosure spaces orwithin an environment including one or more enclosure spaces. Theenvironment includes, for example, a home environment, a living space, awork environment, or other environments. The enclosure spaces correspondto, for example, rooms within the environment. In the exemplaryenvironment shown in FIG. 7, the environment includes a home 210 where auser 212 and the mobile cleaning robot 102 are located. The user 212operates a mobile computing device 104, which can be, e.g., a mobilephone or a tablet computer. The home 210 includes rooms 214A, 214B,214C, and 214D. In the example shown in FIG. 4, the mobile cleaningrobot 102 is located within the room 214A, and the user 212 is locatedwithin the room 214B. The room 214A is adjacent to and connected to theroom 214B by a doorway 216A, the room 214B is adjacent to and connectedto the room 214C by a doorway 216B, and the room 214B is adjacent to andconnected to the room 214D by a doorway 216C.

In this example, the room 214A is a bedroom that includes a bed 218 andend tables 220 a, 220 b. The room 214B is a dining room that includes adining table 222 and dining chairs 224. The room 214C is a bathroom thatincludes a tub 226, a sink 228, and a toilet 230. The room 214D is ahome office that includes a desk 232 and a chair 234.

In the example shown in FIG. 7, the mobile cleaning robot 102autonomously navigates through the room 214A to perform a cleaningmission, such as cleaning a floor surface of the room 214A. The mobilecleaning robot 102 navigates around obstacles (e.g., the bed 218 and endtables 220 a, 220 b) positioned in the room 214A while completing itsmission. As the mobile cleaning robot 102 moves about the home 210during the mission, the mobile cleaning robot 102 uses its sensors togenerate a map of the home 210 and localizes the mobile cleaning robot102 within the map. The mobile cleaning robot 102 includes sensors thatgenerate signals indicative of a status of the mobile cleaning robot102, such as a status of the components of the mobile cleaning robot 102or a status of the mission or operation being performed by the mobilecleaning robot 102. The mobile cleaning robot 102 identifies obstaclesin the home 210 and stores the coordinates of the obstacles in adatabase associated with the map.

In some implementations, a mobile computing device 104 enables the user212 to provide inputs on the mobile computing device 104. The mobilecomputing device 104 can include user input elements such as, forexample, one or more of a touchscreen display, buttons, a microphone, amouse pad, a trackball, a keyboard, or other devices that respond toinputs provided by the user 212. The mobile computing device 104alternatively or additionally includes immersive media (e.g., virtualreality) with which the user 212 interacts to provide a user input. Themobile computing device 104 in these examples can be, for example avirtual reality headset or a head-mounted display. The user can provideinputs corresponding to commands for the mobile cleaning robot 102. Insome implementations, a wireless link 236 is established between themobile computing device 104 and the mobile cleaning robot 102 to enablethe mobile computing device 104 to transmit a wireless command signal tothe mobile cleaning robot 102. The user 212 provides the user inputindicative of the command signal to the mobile computing device 104, andthe mobile computing device 104 transmits the command signalcorresponding to the user input. Various type of wireless networks(e.g., Bluetooth, radio frequency, optical based, etc.) and networkarchitectures (e.g., mesh networks) may be employed to establish thecommunication link 236.

Other devices also can be wirelessly linked to the mobile cleaning robot102. In the example of FIG. 7, the home 210 includes linked devices 292Aand 292B. In some implementations, each of the linked devices 292A and292B includes, e.g., sensors suitable for performing one or more ofmonitoring the home 210, monitoring occupants of the home 210, andmonitoring operations of the mobile cleaning robot 102. These sensorscan include, for example, one or more of imaging sensors, occupancysensors, and environmental sensors.

The imaging sensors for the linked devices 292A, 292B can include one ormore of visible light cameras, infrared cameras, and sensors employingother portions of the electromagnetic spectrum. Occupancy sensors forthe linked devices 292A, 292B include one or more of, for example, apassive or active transmissive or reflective infrared sensor, atime-of-flight or triangulating range sensor using light, sonar, orradio frequency, a microphone to recognize sounds or sound pressurecharacteristic of occupancy, an airflow sensor, a camera, a radioreceiver or transceiver to monitor frequencies and/or Wi-Fi frequenciesfor sufficiently strong receive signal strength, a light sensor capableof detecting ambient light including natural lighting, artificiallighting, and light emitted from a mobile computing device (e.g., themobile computing device 104), and/or other appropriate sensors to detectthe presence of the user 212 or other occupants within the home 210. Theoccupancy sensors alternatively or additionally detect motion of theuser 212 or motion of the autonomous mobile cleaning robot 102. If theoccupancy sensors are sufficiently sensitive to the motion of theautonomous mobile cleaning robot 102, the occupancy sensors of thelinked devices 292A, 292B generate signals indicative of the motion ofthe mobile cleaning robot 102. Environmental sensors for the linkeddevices 292A, 292B can include, e.g., an electronic thermometer, abarometer, a humidity or moisture sensor 283, a gas detector, or anairborne particulate counter.

In the example shown in FIG. 7, a second mobile cleaning robot 238 islocated in the room 214C. The second mobile cleaning robot 238, similarto the mobile cleaning robot 102, performs a mission, e.g., a cleaningmission, within the room 214C. In some examples, the mobile computingdevice 104 is wirelessly connected to the multiple robotic devices,including the mobile cleaning robot 102 and the second mobile cleaningrobot 238, thus enabling the user 212 to interact with the mobilecomputing device 104 to control and monitor multiple robotic devices102, 238. In some examples, the controller for each of the mobilecleaning robot 102, the linked devices 292A, 292B, the second mobilecleaning robot 238, and other devices may initiate and maintain wirelesslinks directly with one another, for example, to initiate and maintain awireless link between the mobile cleaning robot 102 and one of thelinked devices 292A, 292B. Wireless links also may be formed with otherremote electronic devices, such as a mobile phone, a tablet, a laptop,another mobile computing device, one or more environmental controldevices, or other types of electronic devices. In certainimplementations, the wireless links permit communication with one ormore devices including, but not limited to smart light bulbs,thermostats, garage door openers, door locks, remote controls,televisions, security systems, security cameras, smoke detectors, videogame consoles, other robotic systems, or other communication enabledsensing and/or actuation devices or appliances.

The wireless links may utilize various communication schemes andprotocols, such as, for example, Bluetooth classic, Wi-Fi,Bluetooth-low-energy, also known as BLE, 802.15.4, WorldwideInteroperability for Microwave Access (WiMAX), an infrared channel, or asatellite band. In some examples, the wireless links include anycellular network standards used to communicate among mobile computingdevices, including, but not limited to, standards that qualify as 1G,2G, 3G, or 4G. The network standards, if utilized, qualify as, forexample, one or more generations of mobile telecommunication standardsby fulfilling specifications or standards such as the specificationsmaintained by International Telecommunication Union. The 3G standards,if utilized, correspond to, for example, the International MobileTelecommunications-2000 (IMT-2000) specification, and the 4G standardsmay correspond to the International Mobile Telecommunications Advanced(IMT-Advanced) specification. Examples of cellular network standardsinclude AMPS, GSM, GPRS, UMTS, LTE, LTE Advanced, Mobile WiMAX, andWiMAX-Advanced. Cellular network standards may use various channelaccess methods, e.g., FDMA, TDMA, CDMA, or SDMA.

The following describes an example in which the user 212 instructionsthe mobile cleaning robot 102 to clean spots located in three differentrooms. For example, the user 212 walks around the home 210 andidentifies three spots or regions that need cleaning, including a spotP1 in the room 214B, a spot P2 in the room 214C, and a spot P3 in theroom 214D. The user 212 operates the mobile computing device 104 to takepictures of the spots P1, P2, and P3, determines coordinates of thespots P1 to P3 in the mobile computing device coordinate system, andconverts the coordinates to the mobile cleaning robot coordinate system.The user 212 instructs, through the communication link 236, the mobilecleaning robot 102 to clean the spots P1, P2, and P3.

The spot cleaning program 132 determines that the second mobile cleaningrobot 238 is closer to the spot P2, and sends an instruction through acommunication link 240 to the second mobile cleaning robot 238 torequest the second mobile cleaning robot 238 to clean the spot P2. Inthis example, because there are two mobile cleaning robots 102 and 238in the home 210, the spot cleaning program 132 determines which mobilecleaning robot to use to clean the spot P3 using a number of criteria,such as the availability of the mobile cleaning robots, the batteryconditions of the mobile cleaning robots, the distances between themobile cleaning robots and the spot to be cleaned, and the remainingcapacities of the debris bins of the mobile cleaning robots.

For example, the mobile cleaning robot 102 may report that it hasfinished cleaning the spot P1 while the mobile cleaning robot 238 isstill cleaning the spot P2. The spot cleaning program 132 may requestthe mobile cleaning robot 102 to clean the spot P3. For example, theroot 102 may finish cleaning the spot P1 earlier, but reports that ithas a low battery. The spot cleaning program 132 may decide to waituntil the mobile cleaning robot 238 finishes cleaning the spot P2 andrequest the mobile cleaning robot 238 to go clean the spot P3.

For example, the mobile cleaning robot 102 may be in the middle of acleaning task in the room 214A when it was summoned to clean the spotP1. The spot cleaning program 132 may determine that it would be betterto let the mobile cleaning robot 102, after it finishes cleaning thespot P1, return to the room 214A to finish the previous cleaning task,instead of going to the room 214D to clean spot P3 and then return tothe room 214A to finish the remaining cleaning task. In this example,the spot cleaning program 132 sends a command to request the mobilecleaning robot 238 to go clean the spot P3 after it finishes cleaningthe spot P2.

FIG. 8A shows a schematic view of an example of an environment in whichthe system 180 (FIG. 5B) can be used. In this example, the environmentincludes a home 210 similar to that of the example shown in FIG. 7. Amobile computing device 165 communicates with a remote computing system152 through a communication link 242, in which the remote computingsystem 152 has an augmented reality processing module (e.g., 158) and afeature detection module (e.g., 161). The remote computing system 152can be, e.g., a cloud computing system that is accessed through theInternet. The mobile computing device 165 sends images of the spots P1,P2, P3 to be cleaned to the remote computing system 152. The featuredetection module and the augmented reality processing module of theremote computing system 152 determine the coordinates of the spots P1,P2, P3 that need to be cleaned in the mobile computing device coordinatesystem, and converts the coordinates to the robot coordinate system. Thecommunication link 242 has sufficient bandwidth to support streaming ofvideo or a sequence of images from the mobile computing device 165 tothe remote computing system 152. The remote computing system 152 sendsthe coordinates of the spots P1, P2, P3 that need to be cleaned to themobile computing device 165. The mobile computing device 165 sendsinformation about the coordinates to the mobile cleaning robots 102,238, and sends commands to the mobile cleaning robots 102, 238 torequest the mobile cleaning robots 102, 238 to go clean the spots P1,P2, P3.

In some implementations, a home server computer 153 can be providedinside the user's home, in which the home server computer 153 has afeature detection module (e.g., 161) and an augmented reality processingmodule (e.g., 158). In this example, the mobile computing device 165communicates with the home server computer 153 through a communicationlink 243. The mobile computing device 165 sends images of the spots P1,P2, P3 to be cleaned to the home server computer 153, and the featuredetection module and the augmented reality processing module of the homeserver computer 153 determine the coordinates of the spots P1, P2, P3that need to be cleaned.

The home server computer 153 sends the coordinates of the spots P1, P2,P3 that need to be cleaned to the mobile computing device 165. Themobile computing device 165 sends information about the coordinates tothe mobile cleaning robots 102, 238, and sends commands to the mobilecleaning robots 102, 238 to request the mobile cleaning robots 102, 238to go clean the spots P1, P2, P3.

FIG. 8B shows a schematic view of an example of an environment in whichthe systems 150 (FIG. 5A) and 200 (FIG. 6B) can be used. In thisexample, the environment includes a home 210 similar to that of theexample shown in FIG. 7. The mobile computing device 165 sends images ofthe spots P1, P2, P3 to be cleaned to the remote computing system 152,which has the feature detection module (e.g., 161) and the augmentedreality processing module (e.g., 158), and can determine the coordinatesof the spots P1, P2, P3 that need to be cleaned. The mobile computingdevice 165 sends a command to the remote computing system 152 to requestthe mobile cleaning robots 102, 238 to go clean the spots P1, P2, P3.The remote computing system 152 sends information about the coordinatesto the mobile cleaning robots 102, 238, and sends the commands to themobile cleaning robots 102, 238 to request the mobile cleaning robots102, 238 to go clean the spots P1, P2, P3. In the example of FIG. 8B,the remote computing system 152 is a cloud server computer.

In some examples, a home server computer 153 can be provided inside theuser's home, in which the home server computer 153 has a featuredetection module (e.g., 161) and an augmented reality processing module(e.g., 158). In this example, the mobile computing device 165 sendsimages of the spots P1, P2, P3 to be cleaned to the home server computer153, and the feature detection module and augmented reality processingmodule of the home server computer 153 determine the coordinates of thespots P1, P2, P3 that need to be cleaned. The mobile computing device165 sends a command to the home server computer 153 to request themobile cleaning robots 102, 238 to go clean the spots P1, P2, P3. Thehome server computer 153 sends information about the coordinates to themobile cleaning robots 102, 238, and sends the commands to the mobilecleaning robots 102, 238 to request the mobile cleaning robots 102, 238to go clean the spots P1, P2, P3.

Other devices also can be wirelessly linked to the remote computingsystem 152. For example, the linked devices 292A, 292B transmits imagesgenerated by the imaging sensors to the remote computing system 152. Thelinked devices 292A, 292B transmit sensor signals from the combinationof imaging sensors, the occupancy sensors, the environmental sensors,and other sensors present in the linked devices 292A, 292B to the remotecomputing system 152. These signals serve as input data for the remotecomputing system 152 to control or monitor operations of the mobilecleaning robot 102.

In some examples, the remote computing system 152 is connected tomultiple robotic devices, including the mobile cleaning robot 102 andthe second mobile cleaning robot 238, thus enabling the user 212 tointeract with the mobile computing device 104 to control and monitormultiple robotic cleaning devices 102, 238 through the remote computingsystem 152. The controllers for each of the mobile cleaning robot 102,the linked devices 292A, 292B, the second mobile cleaning robot 238, andother devices may initiate and maintain wireless links for communicationwith the remote computing system 152.

The following describes examples of mobile cleaning robots. The mobilecleaning robots 102, 238 autonomously navigate about the environment,e.g., the home 210, using a drive system and a suite of sensors. FIG. 9shows a schematic bottom view of an example of the mobile cleaning robot102 of FIG. 1. While FIG. 9 is described with respect to the mobilecleaning robot 102, the mobile cleaning robot of FIG. 9 additionally oralternatively corresponds to the second mobile cleaning robot 238. Themobile cleaning robot 102 includes a drive system including drive wheels260. In some examples, a caster wheel 262 supports the mobile cleaningrobot 102 above the floor surface. The mobile cleaning robot 102 furtherincludes a controller 264 operable with one or more motors connected tothe drive wheels 260. The controller 264 of the mobile cleaning robot102 selectively activates the motors to drive the drive wheels 260 andnavigate the mobile cleaning robot 102 across a floor surface.

The controller 264 is also operable with a sensing system 266. Thesensing system 266 includes sensors usable by the controller 264 tonavigate about the home 210.

The sensing system 266, for example, has sensors to generate signals fordetecting obstacles within the home 210 and for generating the map ofthe home 210. The sensing system 266 can include obstacle detectionsensors, such as a time-of-flight sensor to detect distances toobstacles, cliff detection sensors to detect a drop-off (e.g., astaircase), bump sensors associated with a bumper mounted on the mobilecleaning robot 102, and contact sensors. The controller 264 operates thedrive system for the mobile cleaning robot 102 to move around obstacleswhen the obstacle detection sensors detect the obstacles.

The controller 264 uses signals from its sensors system to generate amap of the home 210 by tracking and updating positions and orientationsof the mobile cleaning robot 102 over time. These mapping sensorsinclude, for example, simultaneous localization and mapping (SLAM)sensors, dead reckoning sensors, and obstacle detection and avoidance(ODOA) sensors. The controller 264 constructs a two-dimensional map ofthe floor surface of the home 210, determines the robot pose on the mapand determines positions of portions of the home 210 that the mobilecleaning robot 102 can traverse (e.g., unoccupied, traversable floor).Using signals from the dead reckoning sensors, the contact sensors, andthe non-contact obstacle detection sensors, the controller 264 indicatesfloor areas that the mobile cleaning robot 102 cannot traverse becauseof obstacles on the floor surface or above the floor surface. In oneexample, the controller 264 constructs a map of walls and obstacles asit transits, generating an occupancy grid of traversable and occupiedspace. In some implementations, the map uses a Cartesian coordinatesystem or a polar coordinate system. In some examples, the map is atopological map, a representational map, or a probabilistic map.

In some examples, using simultaneous localization and mapping (SLAM)techniques, the controller 264 determines a pose of the mobile cleaningrobot 102 within a two-dimensional map of the home 210. The SLAM sensorsinclude, for example, one or more cameras for visual identification offeatures and landmarks used in calculating robot pose on a map. Themobile cleaning robot 102 includes additional sensors that generatesignals to enable the controller 264 to estimate the position and/ororientation of the mobile cleaning robot 102 as the mobile cleaningrobot 102 moves about the home 210. These sensors, alone or incombination with the SLAM sensors, determine the pose of the mobilecleaning robot 102 on the robot map built by the transiting mobilecleaning robot 102. In some implementations, the controller 264 usessignals from the additional sensors to validate or adjust posedetermined by the SLAM sensors. In some implementations, the additionalsensors include odometers, accelerometers, gyroscopes, inertialmeasurement units, and/or other sensors that generate signals indicativeof a distance travelled, an amount of rotation, a velocity, or anacceleration of the mobile cleaning robot 102. For example, the mobilecleaning robot 102 includes a directional sensor, such as a gyroscope,that generates signals indicative of an amount that the mobile cleaningrobot 102 has rotated from a heading. In some implementations, thesensing system 266 includes a dead reckoning sensor, such as an IR wheelencoder, to generate signals indicative of the rotation of the drivewheels 260, and the controller 264 uses the detected rotation toestimate the distance travelled by the mobile cleaning robot 102. Insome implementations, the sensing system 266 includes, for example, alaser scanner or a time-of-flight sensor that generates sensor readingsfor determining distances to the observed obstacles and objects withinthe environment. Alternatively or additionally, the sensing system 266includes an optical mouse sensor facing the floor surface to determine adistance the mobile cleaning robot 102 has drifted laterally across thefloor surface relative to a heading.

In some implementations the mobile cleaning robot 102 employs visualsimultaneous localization and mapping (vSLAM) to build its map anddetermine a current pose on the map. The sensing system 266 includes oneor more localization sensors, e.g., a camera 268 (image capture system)that generate signals for the controller 264 to determine the mobilecleaning robot's location and orientation relative to features detectedin the environment. In some implementations, the mobile cleaning robot102 includes a visible light camera 268 under the top surface of therobot body and angled in an upward direction, e.g., angled in a rangebetween 30 degrees and 80 degrees from the floor surface about which themobile cleaning robot 102 navigates. The camera 268 is aimed atlocations on the wall and ceiling having a high concentration of staticelements, such as window frames, pictures frames, doorway frames andother objects with visible, detectable features such as lines, cornersand edges. For example, when the camera 268 is angled upward, a centerof a viewing cone of the camera 268 is angled upward such that thecenter of the viewing cone is aimed at the locations on the wall andceiling. Using the images captured by the camera 268, the controller 264determines the robot pose on a map the mobile cleaning robot 102 buildsas it navigates about rooms or enclosure spaces, e.g., a series ofadjoined rooms 214A, 214B, 214C, 214D (collectively referred to asenclosure spaces or rooms 214).

The localization sensors, in some examples, include sensors on themobile cleaning robot 102 capable of generating signals in response todetection of walls and objects in the environment that occupynon-traversable floor space. In addition to vSLAM cameras, theselocalization sensors include, for example, contact sensors such as bumpsensors, and non-contact time of flight sensors, such as lasers,volumetric point cloud sensors, point line sensors (e.g., a time offlight line sensor such as those made by PIXART), IR proximity sensors,light detection and ranging (LIDAR) sensors, and acoustic sensors. Thelocalization sensors generate signals from which unique signatures,patterns, or features are extracted, particularly distinguishingnon-traversable floor from traversable floor, or traversable floor spaceadded to the expanding robot map as it is traversed by the mobilecleaning robot 102. When the controller 264 determines that thesefeatures have been detected, the controller 264 determines the pose ofthe mobile cleaning robot 102 on the map of the home 210 using thelocation and orientation of the mobile cleaning robot 102 relative tothese detected features. The controller 264 localizes the mobilecleaning robot 102 within the home 210, in particular by determining acurrent pose of the mobile cleaning robot 102 with reference to thefeatures corresponding to objects within the home 210. The extractedfeatures indicate the room where the mobile cleaning robot 102 islocated.

Referring back to FIG. 7, the extracted features form unique identifiersfor each of the rooms 214A, 214B, 214C, and 214D. In someimplementations, the mobile cleaning robot 102 uses the extractedfeatures to determine which of the rooms 214A, 214B, 214C, and 214D itis currently located in response to detecting a specific feature orfeatures associated with a room identifier. In some implementations, themobile cleaning robot 102 recognizes pre-identified rooms through objectrecognition. The mobile cleaning robot 102, for example, uses its camera268 to capture images of objects associated with each room 214 (e.g., astove, a dishwasher, or a refrigerator). A user 212 communicates to themobile cleaning robot 102 a particular room identifier (e.g., kitchen)associated with those recognizable objects. During a cleaning mission,when the mobile cleaning robot 102 recognizes one or more of theseobjects, it communicates its location to the user by causing emission ofan audible alert, e.g., by requesting that the mobile computing device104 produce an audible alert, or causing a visual alert to issue, e.g.,by displaying a text notification on the mobile computing device 104indicating the associated stored room identifier.

In some implementations, the map is persistent and stored in the remotecomputing system 152 or the home server computer 153 for access by oneor more mobile cleaning robots 102, 238. In each subsequent run orcleaning session, the mobile cleaning robot 102 updates the persistentmap according to changing conditions within the home 210, such as movedfurniture. The persistent map accumulates information about theenvironment over time. In some examples, the mobile cleaning robot 102discovers connected devices in the home 210 through standard protocolsand localizes them on the map. This includes positions of connectedlights and speakers, vents, door and window sensors, and other connecteddevices in the home 210. The mobile cleaning robot 102 roams the home210 and uses radio frequency (RF) signatures, visual recognition,received signal strength and other methods to recognize connecteddevices in the home 210 and automatically places them on the robot mapof the home 210. For example, the mobile cleaning robot 102 explores thehome 210 and recognizes a NEST® thermostat on the wall in the livingroom, a connected SAMSUNG™ fridge in the kitchen, and Philips™ HUE BLOOMlights in the family room and the bedroom. The mobile cleaning robot 102puts the recognized connected devices on the map and enables the user212 to take advantage of this spatial knowledge of the connecteddevices.

The sensing system 266 generates signals indicative of operations of themobile cleaning robot 102. In some examples, the sensing system 266includes a stall sensor unit integrated with the drive system thatgenerates signals indicative of a stall condition of the mobile cleaningrobot 102 in which the mobile cleaning robot 102 is unable to move alongthe floor surface within the home 210. The stall sensor unit generates asignal to indicate a change in current delivered to a motor of the drivesystem. The change in current can be indicative of a stasis conditionfor the mobile cleaning robot 102, in which the mobile cleaning robot102 is unable to move substantially from its current pose. The stallsensor unit alternatively or additionally includes optical sensors thatgenerate signals indicative of whether a wheel, e.g., the caster wheel262 or one of the drive wheels 260, is moving when power is beingdelivered to motors of the drive wheels 260. The stall sensor unit, insome examples, is a mouse sensor for tracking and detecting motion, orlack thereof, by comparing successive images for change. In someimplementations, the mobile cleaning robot 102 relies on anaccelerometer to generate a signal indicative of an acceleration of themobile cleaning robot 102. The controller 264, upon detection of theabsence of movement of the wheel, determines that the mobile cleaningrobot 102 is in a stall condition.

In some implementations, the mobile cleaning robot 102 includes othersensors as depicted in the schematic diagram of FIG. 10. The sensingsystem 266, in some examples, includes a microphone 272 that receivesaudible signals from the environment of the mobile cleaning robot 102.In some examples, the sensing system 266 includes environmental sensors,such as a temperature sensor 280, an ambient light sensor 282, an airmoisture content sensor 284, a gas composition, air quality sensor 286,or sensors that sense other characteristics of the environment. Thesensing system 266 also includes condition sensors indicative ofconditions of the mobile cleaning robot 102 or of components of themobile cleaning robot 102. These sensors include, for instance, batterycharge state sensors to detect an amount of charge or a capacity forcharge on a power source of the mobile cleaning robot 102, componentlife sensors such as wheel tread sensors to detect a serviceability of acomponent or an amount of remaining life of a component.

The mobile cleaning robot 102 further includes an audio emission system270 that allows the mobile cleaning robot 102 to emit audible signals.The controller 264 causes emission of the audible signals, for example,to notify the user 212 of a status of the mobile cleaning robot 102,e.g., a status of components of the mobile cleaning robot 102, a statusof operations of the mobile cleaning robot 102, or a status of a missionperformed by the mobile cleaning robot 102.

The mobile cleaning robot 102 further includes a wireless communicationsystem 274 that allows the mobile cleaning robot 102 to communicate withthe remote computing system 152, as shown in FIGS. 5A, 5B, 6B, 8A, and8B. Using the wireless communication system 274, the controller 264transmits data to the remote computing system 152. In some examples, thedata includes the signals generated by the sensors of the sensing system266. In some implementations of the mobile cleaning robot 102 thatincludes the image capture system 268, the captured images can betransmitted directly to the remote computing system 152. In someexamples, the mobile cleaning robot 102 collects information andconstructs a map of the home 210 and the controller 264 transmits themap to the remote computing system 152. If the controller 264 includescondition sensors, the controller 264 also transmits informationindicative of the condition of the mobile cleaning robot 102 to theremote computing system 152.

As described with respect to FIGS. 7, 8A, and 8B, during its navigationabout the home 210, the mobile cleaning robot 102 performs operationsand completes missions within the home 210. The performed operationsdepend on the type of the mobile cleaning robot 102. In addition todepicting basic components that may be present in many types of mobilecleaning robots for the implementations described herein, FIG. 9 depictscomponents specific to a vacuum cleaning robot, which corresponds to oneof many types of mobile robots that may benefit from the processesdescribed herein. Other mobile robots may include floor washing robots,home monitoring robots, robotic lawnmowers, mopping robots, companionrobots, or sweeping robots. These robots may each benefit from theprocesses and systems described in this document.

In some examples, the mobile cleaning robot 102 is a vacuum cleaningrobot that includes a cleaning system to ingest debris on a floorsurface. The cleaning system includes, for example, rotatable rollers orbrushes 278 that agitate debris from the floor surface into a debris bin(not shown) mounted on the mobile cleaning robot 102. The cleaningsystem includes an air mover that, upon activation, moves air, andthereby debris on the floor surface, towards the debris bin. As themobile cleaning robot 102 navigates about its environment during acleaning mission, the mobile cleaning robot 102 activates its cleaningsystem to ingest debris, thereby cleaning the floor surface.

In some examples, if the mobile cleaning robot 102 is a vacuum cleaningrobot, the robot 102 includes a removable debris bin 344, and thesensing system 266 includes a debris bin level sensor 288 that detectsan amount of debris ingested into the removable debris bin 344. Thesensing system 266 includes one or more debris sensors or dirt sensors294 that detect when the vacuum cleaning robot ingests debris, ordetects a rate of debris ingestion. In some examples, the mobilecleaning robot 102 includes a filter for debris, the sensing system 266also includes a filter sensor to detect whether the filter requirescleaning.

The exemplary mobile cleaning robot 102 includes a chassis 296, abattery 298, a battery charger 300, a power module 338 powered by thebattery 298, one or more motors 340 powered by the power module 338, adrive system 302 driven by the motors 340, a mapping/navigation system304, an infrared (IR) emitter 306, an infrared radiation detector 308, amotion detector (e.g., a passive IR photodiode) 310, an ultrasonicsensor 312, a pressure sensor 314, an inertial measurement unit (IMU)316, and an indicator light 318. The controller 264 may include anysuitably configured processor 320 (e.g., microprocessor) or processors.The microprocessor 320 is in communication with the controller 264,memory 276, the various sensors, and the drive system 302. In someimplementations, the camera 268 is an imaging device that gathers 2Dimages, panoramic views, video and/or 3D models. The sensors describedabove are not exhaustive of the types of sensors that may be provided onthe robot 102 and certain of the sensors may be omitted depending on theenvironmental parameters to be detected by the robot 102.

The wireless communication system 274 includes a wireless communicationtransmitter or module 322 (e.g., a Wi-Fi module) and an associatedantenna 324 to enable wireless communication between the robot 102 andthe mobile computing device 104, the remote computing system 152, a hub(such as a Google OnHub® Wi-Fi access point), a network router, and/or aprivate network.

In some implementations, the mobile cleaning robot 102 includes sensorsfor Obstacle Detection and Obstacle Avoidance (“ODOA”) during transitthrough the home 210. These sensors include a mechanical bumper switchsensor 326 that is triggered on contact with a stationary obstacle andnon-contact sensors such as ultrasonic sensors 312, infraredemitter/detector proximity sensors 328, and structured light sensors 330such as those made by PixArt.

The mapping/navigation system 304 enables the robot 102 to performautonomous navigation and mapping of the home 210. The mobile cleaningrobot 102 includes sensors for autonomous navigation such as the camera268 for Visual Simultaneous Localization and Mapping (vSLAM), a mousesensor 332, the IMU 316 with a 3 axis accelerometer and a 3 axisgyroscope, and/or wheel odometers 334 to determine or register theposition of the robot 102 relative to the space 210 (i.e., to localizethe robot 102 in the space 210). The robot 102 can localize thelocations of readings collected by its onboard sensors. Any suitabletechnique and components may be used to localize and register the robot102, such as machine vision (e.g., using the camera 268 and FeatureRecognition or Class Recognition software), light beacons, or radiofrequency received signal strength indicator (RSSI) technology.

The robot 102 can include a mode button 336 that enables the user toselect one of several operation modes, such as various cleaning modes.The robot 102 includes driven locomotive members 342 a, 342 b in contactwith a floor surface and supporting the robot chassis 296. The drivenlocomotive members 342 a, 342 b are commandable by the controller 264 tocause the mobile cleaning robot 102 to traverse the floor surface withinthe home 210. The microprocessor 320, in some examples, navigate themobile cleaning robot 102 to or through one or more mapped locationswithin the home 210. The robot 102 include an operating system 346 thatmanages various operations of the robot 102.

The controller 264 accesses a memory 276 that stores informationcollected by sensors and routines executable by the controller 264 tocause the mobile cleaning robot 102 to perform operations within thehome 210. Routines include navigational routines, for example, tonavigate the mobile cleaning robot 102 about the home 210. Thecontroller 264 initiates operations of the mobile cleaning robot 102 inresponse to signals from, for example, the sensing system 266 orwireless command signals transmitted to the controller 264 through thewireless communication system 274. If the mobile cleaning robot 102includes user input devices, such as manually operable buttons, theinput devices can be operated by the user 212 to cause the controller264 to initiate one or more operations of the mobile cleaning robot 102.The manually operable buttons, for example, correspond to push buttonsor button icons on a touchscreen display. In some examples, the memory276 also stores deterministic patterns of movement that the controller264 implements to navigate the mobile cleaning robot 102 through thehome 210. The patterns include, for example, a straight motion pattern,a vine pattern, a cornrow pattern, a spiral pattern, a zigzag pattern,or other patterns including combinations of patterns. The memory 260also stores the data collected by the sensors of the sensing system 266,including any of the dead reckoning sensors, the localization sensors,the condition sensors, or other sensors of the sensing system 266. Ifthe controller 264 constructs the map of the home 210, the controller264 optionally stores the map in a non-volatile storage device 277 forreuse on a subsequent cleaning mission.

The operations available to the mobile cleaning robot 102 depend on thetype of the mobile cleaning robot 102. For example, if the mobilecleaning robot 102 is a vacuum cleaning robot, the memory 276 includesroutines for performing floor cleaning operations. When the vacuumcleaning robot receives a command to begin a cleaning mission, thevacuum cleaning robot performs floor cleaning operations by autonomouslynavigating about its environment and ingesting debris from the floorsurface. The floor cleaning operations include a room cleaning operationin which the controller 264 navigates the vacuum cleaning robot in apattern, e.g., a cornrow pattern, a spiral pattern, or other appropriatemovement pattern, to cover the floor surface of a room or multiplerooms.

In some examples, the floor cleaning operations include a spot cleaningoperation in which the vacuum cleaning robot, upon receiving a commandto perform the spot cleaning operation, restricts its cleaning operationto a localized area. The localized area may include a greater amount ofdetected debris, as detected by the debris sensors. As part of the spotcleaning operation, the controller 264 additionally or alternativelyincreases power delivered to the air mover of the vacuum cleaning robotto cause debris to be more easily ingested by the vacuum cleaning robot.To perform the spot cleaning operation, the controller 264 controls thedrive system such that the vacuum cleaning robot moves in a predefinedpattern, e.g., a spiral pattern, within the localized area. Theinitiation of any of the floor cleaning operations may occur in responseto sensor signals. If the vacuum cleaning robot includes a debrissensor, the controller 264 can control the vacuum cleaning robot toperform the spot cleaning operation in response to detection of thedebris by the debris sensor.

In the examples of FIGS. 1A, 1B, and 5A to 8B, the user 212 may initiatea spot cleaning operation upon identifying one or more spots that needto be cleaned. The mobile computing device 104, 165 can send the spotcleaning operation command to the mobile cleaning robot 102 directly orthrough the remote computing system 152.

In some implementations, the mobile cleaning robot 102 communicates orotherwise interacts with other devices in its environment. The mobilecleaning robot 102, for example, includes a rechargeable battery thatcan be recharged at a station electrically connectable with the battery.In some examples, the battery is a removable battery that is inserted inthe station, while in other examples, the mobile cleaning robot 102docks at the station, thereby enabling the station to recharge thebattery. As depicted in FIG. 7, a docking station 222 is located in theroom 214A. The docking station 222 includes a charger operative tocharge the battery of the mobile cleaning robot 102 when the mobilecleaning robot 102 is docked at the docking station 222, e.g.,physically and/or electrically connected to the docking station 222. Ifthe mobile cleaning robot 102 is a vacuum cleaning robot, the dockingstation 222 additionally or alternatively serves as an evacuationstation including a motorized receptacle to empty debris from the debrisbin of the vacuum cleaning robot.

In another example depicted in FIG. 7, a transmitting unit 290 locatedproximate the doorway 216B transmits an axially-directed confinementbeam that spans at least a length of the doorway 216B. The transmittingunit 290 is positioned so that the emitted confinement beam separatesthe room 214C from the room 214B. In some examples, the sensing system266 includes an omnidirectional detector that detects the emittedconfinement beam. In response to detection of the confinement beam, thecontroller 264 navigates the mobile cleaning robot 102 to avoid crossingthe confinement beam, thereby maintaining autonomous navigation of themobile cleaning robot 102 in the room 214C or outside of the room 214C.The mobile cleaning robot 102, for examples, moves away from theconfinement beam when the omnidirectional detector detects theconfinement beam. If the second mobile cleaning robot 238 includes suchan omnidirectional detector, the transmitting unit 290 restricts thesecond mobile cleaning robot 238 such that the second mobile cleaningrobot 238 autonomously navigates within the room 214C without movingacross the confinement beam and hence the doorway 216B.

In some examples, one or more transmitting units emit signals into theenvironment that are detectable by localization sensors on the mobilecleaning robot 102. The signals are, for example, optical or acousticsignals that remain stationary within the home 210. For example, if thetransmitting unit transmits a narrowly directed acoustic signal into thehome 210 while the mobile cleaning robot 102 navigates through the home210, the controller 264 localizes to the acoustic signal when anacoustic receiver on the mobile cleaning robot 102 receives it. Theacoustic signal can be directed towards a wall surface such that theacoustic receiver detects a reflected acoustic signal, or the acousticsignal can be directed towards a floor surface so that the acousticreceivers receives a direct emission of the acoustic signal. Thetransmitting unit transmits one or more of these signals into the home210, and the mobile cleaning robot 102 uses each of these signals aslocalizing features. In some examples, the transmitting unit emits anarrowly focused optical beam into the home 210 that the sensing system266 detects and the controller 264 uses to localize the mobile cleaningrobot 102 within the home 210.

The wireless communication system for the mobile cleaning robot 102enables transmission of data between the mobile cleaning robot 102 andthe remote computing system 152, or between the mobile cleaning robot102 and the mobile computing device 104, 165 as shown in FIGS. 1A and 5Ato 6B. The remote computing system 152 can be configured to includecomputing resources remote from the environment of the mobile cleaningrobot 102, e.g., remote from the home 210. For example, as shown in FIG.8B, the remote computing system 152 can include one or more servers 300that establish communication links with each of the mobile cleaningrobots 102, 238. The one or more servers 300, in some examples, areconnected to a network of one or more remotely located servers (a“cloud” computing network 302). The remote computing system 152includes, for example, a portion of a network-accessible computingplatform implemented as a computing infrastructure of processors,storage, software, and databases maintained and accessible through acommunication network. The remote computing system does not require theuser 212 to be knowledgeable of the physical location and configurationof the system, nor does the remote computing system require the user 212to be knowledgeable of the routines executed by the remote computingsystem 152 or services delivered by the remote computing system 152. Theremote computing system 152 can include one or more databases to storemobile robot identification data and associated user data.

The dead reckoning and/or localization sensors for the mobile cleaningrobot 102 can include sensors that generate signals from which featurescan be extracted to localize the mobile cleaning robot 102. The deadreckoning and/or localization sensors alternatively or additionallyinclude sensors remote from the mobile cleaning robot 102, e.g., sensorson linked devices 292A, 292B.

The mobile cleaning robot 102 can emit signals detectable by remote deadreckoning sensors such that changes in the relative position and/ororientation of the mobile cleaning robot 102 while the mobile cleaningrobot 102 navigates about the environment are estimated using outputsfrom these sensors.

Linked devices 292A, 292B (e.g., network connected devices) can generateinformation that, in some implementations, accessed by the remotecomputing system 152 and the mobile cleaning robot 102 to improve theaccuracies of the robot map. The linked devices 292A, 292B includesensors that detect features in the home 210, such as an acousticsensor, an image capture system, or other sensor generating signals fromwhich features can be extracted. In some instances, the linked devices292A, 292B transmit the information derived from the sensor signals tothe remote computing system 152. The remote computing system 152correlates the information relating to these features with features onthe robot map.

In some implementations, the linked devices 292A, 292B generate theirown maps of portions of the home 210 that are compared to the robot map.The linked devices 292A, 292B, for example, include cameras, opticalsensors, ranging sensors, acoustic sensors, or other sensors thatgenerate signals to be used to form a map of an environment of thelinked devices 292A, 292B. In some examples, the linked devices 292A,292B cooperate with one another to form maps.

The linked devices 292A, 292B also may emit signals received by sensorson the mobile cleaning robot 102. The mobile cleaning robot 102 usessignals generated by its sensors in response to the signals from thelinked devices 292A, 292B to triangulate the position of the mobilecleaning robot 102. The emitted signals can be, for example, opticalsignals, acoustic signals, wireless signals, and other detectablesignals whose intensities change as they propagate through theenvironment.

In some implementations, during operations of the mobile cleaning robot102, the sensing system for the mobile cleaning robot 102 detects anerror status associated with the mobile cleaning robot 102. The remotecomputing system 152 may receive indication of the error status and senda message to the user 212 and suggest the user 212 to correct the basisof the error status.

Operations for each of the processes described in this document can beexecuted in a distributed manner. For example, the remote computingsystem 152, the mobile cleaning robot 102, and the remote computingdevice 104, 165 may execute one or more of the operations in concertwith one another. Operations described as executed by one of the remotecomputing system 152, the mobile cleaning robot 102, and the mobilecomputing device 104, 165 can in some implementations, be executed atleast in part by two or more of the remote computing system 152, themobile cleaning robot 102, and the mobile computing device 104, 165.

The following describes exemplary processes for performing spot cleaningby the mobile cleaning robot 102.

Referring to FIG. 11, the augmented reality toolkit 126 executing on themobile computing device 104 establishes a coordinate system 400(referred to as the “virtual space coordinate system”). The robot 102employs visual simultaneous localization (vSLAM) to establish acoordinate system (referred to as the “robot coordinate system”) tobuild a map and determine its current pose on the map. This enables atransformation or mapping between the virtual space coordinate systemand the robot coordinate system.

In some implementations, the spot cleaning program 132 can show a map ofthe home 210 on the touch screen display 138 of the mobile computingdevice 104. The map of the home 210 can be derived from the persistentmap maintained by the robot 102. Referring to FIG. 12, a path 510 thatwas traveled by the robot 102 can be overlaid on the map of the home210, so that the user 212 can confirm that the robot 102 has cleaned thespots that need to be cleaned. As another example, the user 212 can drawa virtual path on the map shown in the user interface and instruct themobile cleaning robot 102 to follow the virtual path to reach the dirtspot.

For example, if the robot 102 indicates that a condition prevented therobot 102 from cleaning the dirt spots, the condition can be overlaid onthe map. For example, if the robot 102 cannot enter the room 214D (seeFIG. 7) to clean the dirt spot P3 because a door leading to the room214D is closed, an icon of a closed door can be shown on the map. If thepath of the robot 102 is blocked by a thick carpet, an icon of a thickcarpet can be shown on the map. If the path of the robot 102 is blockedby one or more unknown objects, the robot 102 can take an image of theone or more unknown objects, and the image of the one or more unknownobjects can be shown on the map. The user 212 can remove the condition,such as open the closed door, or remove the objects blocking the robot'spath. For example, the user 212 may look at the map, see where theobstacles are, and determine there is an alternative path for the robot102 to reach the dirt spot. The user 212 can draw the alternative pathon the touch screen, and the spot cleaning program 132 can send aninstruction to the robot 102 to travel along the alternative pathprovided by the user 212.

In some implementations, the robot 102 can use the camera 108 to captureimages of its surroundings in the home 210 and recognize objects inorder to help the robot 102 determine the location of the dirt spots, orthe location of the robot 102 on the map. Referring to FIG. 13, as therobot 102 moves around the home 210 and performs the cleaning tasks, therobot 102 updates the map to include various markers that it seesthrough the camera 108. For example, the markers may include one or moreof a pattern 530, a QR code 532, and a beacon 534. The robot 102recognizes the markers and places them on the map.

When the user 212 decides that spot cleaning is needed in a first room,the user 212 can use the camera 120 of the mobile computing device 104to take images of the markers (e.g., 530, 532, 534) in the first room.The spot cleaning program 132 calls the augmented reality toolkit 126 todetermine the coordinates of the markers in the virtual space. If theuser 212 initiates a new augmented reality session, the user 212 canestablish a virtual space coordinate system, determine the coordinatesof the dirt spots in the virtual space coordinate system, which are thenconverted to coordinates in the robot coordinate system. The spotcleaning program 132 sends to the robot 102 the coordinates of the dirtspot. The robot 102 travels toward the dirt spot based on informationabout the location of the dirt spot. The robot 102 also uses informationabout the coordinates of the markers in the first room to enhance theaccuracy of navigation to ensure that the robot 102 correctly arrives atthe dirt spot in the first room specified by the user 212.

Suppose after the user 212 requests the robot 102 to go clean dirt spotsin the first room, the user 212 goes to a second room and determinesthere are additional dirt spots that need to be cleaned. The user 212uses the camera 120 to capture images of the additional dirt spots inthe second room, and the spot cleaning program 132 calls the augmentedreality toolkit 126 to determine the coordinates of the dirt spots inthe second room. The user 212 uses the camera 120 to capture images ofmarkers (e.g., special patterns 530, QR codes 532, or beacons 534) inthe second room, the spot cleaning program 132 calls the augmentedreality toolkit 126 to determine the coordinates of the markers in thesecond room. The spot cleaning program 132 sends the coordinates of thedirt spots and the coordinates of the markers in the second room to therobot 102. The spot cleaning program 132 sends an instruction to therobot 102 to request the robot 102 to go clean the dirt spots in thesecond room. The robot 102, after cleaning up the dirt spots in thefirst room, travels toward the dirt spots in the second room based onthe coordinates of the dirt spots in the second room. The robot 102 alsouses information about the coordinates of the markers in the second roomto enhance the accuracy of navigation to ensure that the robot 102correctly arrives at the dirt spots in the second room specified by theuser 212.

The robot 102 establishes and updates an internal map (referred to asthe robot map) using an internal coordinate system (referred to as therobot coordinate system). When the robot 102 moves around the home 210and performs the cleaning tasks, the robot 102 updates the map toinclude various markers that it sees through the camera 108.

Referring to FIG. 14, in some implementations, a marker can be madesmall and placed at an inconspicuous location. For example, a QR code540 can be placed on a fire detector 542 that is mounted on the ceiling.As another example, a QR code can be placed on the frame of a recessedceiling light. Multiple QR codes can be placed at selected locations onthe ceiling. By placing the QR code 540 and other markers on or near theceiling, the markers will have little effect on the decor of the home210 and be less distracting to the user 212. The robot 102 is providedwith a high resolution camera or a zoom lens that enables the robot 102to detect the markers on or near the ceiling. As the robot 102 moves inthe home 210, the simultaneous localization and mapping (SLAM) sensorswill track the locations of the objects on or near the ceiling,including the markers (e.g., the QR code 540).

When the spot cleaning program 132 calls the augmented reality toolkit126 to determine coordinates of the dirt spots, the spot cleaningprogram 132 prompts the user 212 to scan the markers, such as the QRcode 540 on the ceiling. The spot cleaning program 132 determines thecoordinates of the markers on the ceiling and uses that information toassist in sharing the coordinates with the robot 102.

Referring to FIG. 15, in some implementations, the spot cleaning program132 overlays additional information on the map that is shown to the user212. For example, as the robot 102 moves about the home 210, the robot102 determines the Wi-Fi signal strength at various locations in thehome 210 and record that information. The robot 102 transmits theinformation about the Wi-Fi signal strength at various locations to themobile computing device 104, and the spot cleaning program 132 uses thatinformation to generate a Wi-Fi heat map 550. The Wi-Fi heat map 550shows the regions in the home 210 that have stronger Wi-Fi signals, andthe regions in the home 210 that have weaker Wi-Fi signals. The Wi-Fiheat map 550 can help the user 212 determine whether the Wi-Fi router isplaced at the optimal location, and determine where to place electronicdevices in the home 210 so that the devices can receive stronger Wi-Fisignals.

The autonomous mobile robots described in this document can becontrolled, at least in part, using one or more computer programproducts, e.g., one or more computer programs tangibly embodied in oneor more information carriers, such as one or more non-transitorymachine-readable media, for execution by, or to control the operationof, one or more data processing apparatus, e.g., a programmableprocessor, a computer, multiple computers, and/or programmable logiccomponents.

Operations associated with controlling the autonomous mobile robotsdescribed in this document can be performed by one or more programmableprocessors executing one or more computer programs to perform thefunctions described in this document. A computer program can be writtenin any form of programming language, including compiled or interpretedlanguages, and it can be deployed in any form, including as astand-alone program or as a module, component, subroutine, or other unitsuitable for use in a computing environment. Control over all or part ofthe robots described in this document can be implemented using specialpurpose logic circuitry, e.g., an FPGA (field programmable gate array)and/or an ASIC (application-specific integrated circuit).

The controllers described in this document can include one or moreprocessors. Processors suitable for the execution of a computer programinclude, by way of example, both general and special purposemicroprocessors, and any one or more processors of any kind of digitalcomputer. Generally, a processor will receive instructions and data froma read-only storage area or a random access storage area or both.Elements of a computer include one or more processors for executinginstructions and one or more storage area devices for storinginstructions and data. Generally, a computer will also include, or beoperatively coupled to receive data from, or transfer data to, or both,one or more machine-readable storage media, such as hard drives,magnetic disks, magneto-optical disks, or optical disks.Machine-readable storage media suitable for embodying computer programinstructions and data include various forms of non-volatile storagearea, including by way of example, semiconductor storage devices, e.g.,EPROM, EEPROM, and flash storage devices; magnetic disks, e.g., internalhard disks or removable disks; magneto-optical disks; and CD-ROM andDVD-ROM discs.

The processes for enabling spot cleaning by one or more mobile robotsdescribed above can be implemented using software for execution on oneor more mobile computing devices, one or more mobile robots, and/or oneor more remote computing devices. For instance, the software formsprocedures in one or more computer programs that execute on one or moreprogrammed or programmable computer systems, either in the mobilerobots, the mobile computing devices, or remote computing systems (whichmay be of various architectures such as distributed, client/server, orgrid), each including at least one processor, at least one data storagesystem (including volatile and non-volatile memory and/or storageelements), at least one wired or wireless input device or port, and atleast one wired or wireless output device or port. The software may formone or more modules of a larger program, for example, that providesother services related to managing the operations of a home, such ascleaning sessions and security monitoring of the home.

The software may be provided on a medium, such as a CD-ROM, DVD-ROM, orBlu-ray disc, readable by a general or special purpose programmablecomputer or delivered (encoded in a propagated signal) over a network tothe computer where it is executed. The functions may be performed on aspecial purpose computer, or using special-purpose hardware, such ascoprocessors. The software may be implemented in a distributed manner inwhich different parts of the computation specified by the software areperformed by different computers. Each such computer program ispreferably stored on or downloaded to a storage media or device (e.g.,solid state memory or media, or magnetic or optical media) readable by ageneral or special purpose programmable computer, for configuring andoperating the computer when the storage media or device is read by thecomputer system to perform the procedures described herein. Theinventive system may also be considered to be implemented as acomputer-readable storage medium, configured with a computer program,where the storage medium so configured causes a computer system tooperate in a specific and predefined manner to perform the functionsdescribed herein.

A number of embodiments of the description have been described.Nevertheless, it will be understood that various modifications may bemade without departing from the spirit and scope of the description. Forexample, some of the steps described above may be order independent, andthus can be performed in an order different from that described. It isto be understood that the foregoing description is intended toillustrate and not to limit the scope of the invention, which is definedby the scope of the appended claims.

The mobile computing device 104, 165 can be, e.g., a smart watch, asmart camera, a smart goggle, or any other portable device that iscapable of capturing images and performing image processing, or capableof capturing images and sending the images to a remote computing deviceor home computer server that can process the images. The user 212 canidentify the location of the spot that needs to be cleaned using variousmethods. For example, the user may have a home robot and a mobilecleaning robot. The home robot may move about in the home and interactwith the user using natural language. The home robot may providesecurity monitor functions and other services, such as playing music,answering user questions, setting up user calendar, and controllingvarious devices in the home. The user can point to a spot and speak tothe home robot: “Clean this spot.” The home robot has a camera and canrecognize the spot pointed out by the user, determine the coordinates ofthe spot, and send the coordinate information to the mobile cleaningrobot.

The mobile cleaning robot 102, 238 can store a persistent map in itsinternal non-volatile storage, instead of or in addition to, storing thepersistent map in a storage device of a remote computing system (e.g., acloud storage system).

Instead of tapping on the touch screen to identify the spots that needto be cleaned, the user can draw a border of a region on the touchscreen. The spot cleaning program can identify points on the border,send the coordinates of the points on the border to the mobile cleaningrobot, and indicate that the points are points on the border of theregion to be cleaned. The mobile cleaning robot determines a cleaningpath that enables the mobile cleaning robot to clean up the regionidentified by the points on the border. For example, the mobile cleaningrobot can determine a rectangular or circular region that bounds theregion to the cleaned, and clean the rectangular or circular region.Alternatively, the spot cleaning program can determine a rectangular orcircular region that bounds the region to the cleaned, and sendsinformation about the rectangular or circular region to the mobilecleaning robot. For example, the spot cleaning program can send thecoordinates of four corners of the rectangular region, or thecoordinates of the center and the radius of the circular region, to themobile cleaning robot. The mobile cleaning robot can have a “spotcleaning” mode and a “region cleaning” mode. The spot cleaning programcan send an instruction to the mobile cleaning robot to activate the“spot cleaning” mode and send position information about spots to becleaned. In this case, the mobile cleaning robot cleans a small regionsurrounding each spot identified in the instruction. The spot cleaningprogram can send an instruction to the mobile cleaning robot to activatethe “region cleaning” mode and send position information about a regionthat needs to be cleaned. In this case, the mobile cleaning robot cleansthe region identified by the instruction.

The feature detection modules can be trained using various machinelearning techniques. For example, supervised learning techniques may beimplemented in which training is based on a desired output that is knownfor an input. Supervised learning can be considered an attempt to mapinputs to outputs and then estimate outputs for previously unusedinputs. Unsupervised learning techniques may also be used in whichtraining is provided from known inputs but unknown outputs.Reinforcement learning techniques may also be employed in which thesystem can be considered as learning from consequences of actions taken(e.g., inputs values are known and feedback provides a performancemeasure). In some arrangements, the implemented technique may employ twoor more of these methodologies.

Other embodiments are within the scope of the following claims.

What is claimed is:
 1. A method comprising: determining, using at leastone processor, a mapping between a first coordinate system associatedwith a mobile device and a second coordinate system associated with amobile robot, in which the first coordinate system is different from thesecond coordinate system; and providing at the mobile device a userinterface to enable a user to interact with the mobile robot in whichthe interaction involves usage of the mapping between the firstcoordinate system and the second coordinate system.
 2. The method ofclaim 1 in which the user interface is configured to enable the user touse the mobile device to instruct the mobile robot to perform aspecified action at a specified location.
 3. The method of claim 2,comprising: configuring the user interface to enable the user to specifya location on an image shown on a display module of the mobile device,identifying, using at least one processor, coordinates of the locationspecified by the user, and sending an instruction from the mobile deviceto the mobile robot to instruct the mobile robot to perform the cleaningoperation at the location specified by the user, in which theinstruction includes the coordinates of the location specified by theuser.
 4. The method of claim 3, comprising: determining firstcoordinates of the location specified by the user, in which the firstcoordinates are based on the first coordinate system, converting thefirst coordinates to second coordinates using the mapping between thefirst coordinate system and the second coordinate system, in which thesecond coordinates are based on the second coordinate system, andsending the instruction including the second coordinates to the mobilerobot.
 5. The method of claim 1, comprising enabling the user to use themobile device at a first location in an environment to interact with themobile robot located at a second location in the environment, in whichthe second location is not within line of sight of the mobile device,and the interaction involves usage of the mapping between the firstcoordinate system and the second coordinate system.
 6. The method ofclaim 1, comprising: at the mobile device, receiving data about anenvironment from the mobile robot, the data including locationinformation, and at the mobile device, displaying an image of theenvironment on a display module, and overlaying graphic elements on theimage in which the graphic elements are derived based on the datareceived from the mobile robot.
 7. The method of claim 6, comprisingoverlaying a representation of an area having a specified characteristicidentified by the mobile robot on the image.
 8. The method of claim 7 inwhich the area having the specified characteristic represents at leastone of (i) an area in the environment that has been processed by themobile robot within a specified period of time, (ii) an area in theenvironment that has not been processed by the mobile robot within aspecified period of time, (iii) an area in the environment that isscheduled to be processed and has not been processed by the mobilerobot, (iv) a keep out zone, (v) an area that is traversable by themobile robot, (vi) an area that is not traversable by the mobile robot,(vii) a signal strength map, or (viii) a foot traffic statistics map. 9.The method of claim 7, comprising overlaying a representation of anobstacle identified by the mobile robot on the image.
 10. The method ofclaim 9, comprising: determining positions of the area and the obstaclerelative to a viewpoint of a camera of the mobile device, determiningwhich portion of the area is occluded by the obstacle, and displayingthe image on the display module with the portion of the area having thespecified characteristic being occluded by the obstacle.
 11. The methodof claim 1, comprising: executing an augmented reality tool to implementan augmented reality session on the mobile device, and configuring theuser interface to enable the user to interact with the mobile device inthe augmented reality session.
 12. The method of claim 11, comprisingusing the augmented reality tool to establish the first coordinatesystem based on images captured by a camera of the mobile device. 13.The method of claim 1 in which determining the mapping between the firstcoordinate system and the second coordinate system comprises: comparingfeatures derived from images captured by the camera of the mobile devicewith features derived from images captured by a camera of the mobilerobot, identifying a match between a first set of features derived fromthe images captured by the camera of the mobile device and a second setof features derived from images captured by a camera of the mobilerobot, identifying first coordinates associated with the first set offeatures, in which the first coordinates are based on the firstcoordinate system, identifying second coordinates associated with thesecond set of features, in which the second coordinates are based on thesecond coordinate system, and determining the mapping between the firstcoordinate system and the second coordinate system based on arelationship between the first coordinates and the second coordinates.14. The method of claim 13, comprising applying an image transformationto the images captured by the camera of the mobile device to generatemodified images that simulate images captured by the camera of themobile robot from the viewpoint of the camera of the mobile device, inwhich the image transformation takes into account characteristics of themobile device camera and characteristics of the mobile robot camera. 15.The method of claim 14 in which comparing features derived from imagescaptured by the camera of the mobile device with features derived fromimages captured by the camera of the mobile robot comprises comparingfeatures derived from the modified images with features derived from theimages captured by the camera of the mobile robot, and identifying amatch between a first set of features derived from the images capturedby the camera of the mobile device and a second set of features derivedfrom images captured by a camera of the mobile robot comprisesidentifying a match between a first set of features derived from themodified images and a second set of features derived from imagescaptured by the camera of the mobile robot.
 16. A method comprising:displaying, on a display module of a mobile device, an image of anenvironment captured by a camera of the mobile device, in which arepresentation of an area having a specified characteristic and arepresentation of an obstacle identified by a mobile robot are overlaidon the image, wherein in the image, the area is shown partly occluded bythe obstacle, and the portion of the area occluded by the obstacle isdetermined based on positions of the area and the obstacle relative to aview point of the camera of the mobile device.
 17. The method of claim16 in which the representation of an area having a specifiedcharacteristic comprises a representation of at least one of (i) an areain the environment that has been processed by the mobile robot, (ii) anarea in the environment that has not been processed by the mobile robotwithin a specified period of time, (iii) an area in the environment thatis scheduled to be processed and has not been processed by the mobilerobot, (iv) a keep out zone, (v) an area that is traversable by themobile robot, (vi) an area that is not traversable by the mobile robot,(vii) a Wi-Fi signal strength map, (viii) a mobile phone signal strengthmap, or (ix) a foot traffic statistics map.
 18. The method of claim 16in which the representation of the area in the environment that has beenprocessed by the mobile robot comprises a representation of an area thathas been at least one of vacuumed, mopped, scrubbed, swept, or mowed bythe mobile robot.
 19. The method of claim 16, comprising determining amapping between a first coordinate system associated with the mobilerobot and a second coordinate system associated with the mobile device,in which the mobile robot determines positions of objects in theenvironment based on the first coordinate system, and the mobile devicedetermines positions of objects in the environment based on the secondcoordinate system.
 20. An apparatus comprising: a storage device storingprocessor-executable instructions; and at least one processorcommunicatively coupled to the storage device, in which upon executionof the processor-executable instructions by the at least one processor,the at least one processor is configured to: determine a mapping betweena first coordinate system associated with a mobile device and a secondcoordinate system associated with a mobile robot, in which the firstcoordinate system is different from the second coordinate system; andprovide at the mobile device a user interface to enable a user tointeract with the mobile robot in which the interaction involves usageof the mapping between the first coordinate system and the secondcoordinate system.